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<div class="title">Quaternion.h</div>  </div>
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<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// This file is part of Eigen, a lightweight C++ template library</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// for linear algebra.</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">// Copyright (C) 2008-2010 Gael Guennebaud &lt;gael.guennebaud@inria.fr&gt;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Copyright (C) 2009 Mathieu Gautier &lt;mathieu.gautier@cea.fr&gt;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// This Source Code Form is subject to the terms of the Mozilla</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">// Public License v. 2.0. If a copy of the MPL was not distributed</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#ifndef EIGEN_QUATERNION_H</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#define EIGEN_QUATERNION_H</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &quot;./InternalHeaderCheck.h&quot;</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160; </div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceEigen.html">Eigen</a> { </div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160; </div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; </div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">/***************************************************************************</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">* Definition of QuaternionBase&lt;Derived&gt;</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">* The implementation is at the end of the file</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">***************************************************************************/</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160; </div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="keyword">namespace </span>internal {</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Other,</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;         <span class="keywordtype">int</span> OtherRows=Other::RowsAtCompileTime,</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;         <span class="keywordtype">int</span> OtherCols=Other::ColsAtCompileTime&gt;</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="keyword">struct </span>quaternionbase_assign_impl;</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;}</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160; </div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">class</span> Derived&gt;</div>
<div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="classEigen_1_1QuaternionBase.html">   37</a></span>&#160;<span class="keyword">class </span><a class="code" href="classEigen_1_1QuaternionBase.html">QuaternionBase</a> : <span class="keyword">public</span> <a class="code" href="classEigen_1_1RotationBase.html">RotationBase</a>&lt;Derived, 3&gt;</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;{</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; <span class="keyword">public</span>:</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  <span class="keyword">typedef</span> <a class="code" href="classEigen_1_1RotationBase.html">RotationBase&lt;Derived, 3&gt;</a> <a class="code" href="classEigen_1_1RotationBase.html">Base</a>;</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  <span class="keyword">using</span> Base::operator*;</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  <span class="keyword">using</span> Base::derived;</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> internal::traits&lt;Derived&gt;::Scalar Scalar;</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="structEigen_1_1NumTraits.html">NumTraits&lt;Scalar&gt;::Real</a> RealScalar;</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> internal::traits&lt;Derived&gt;::Coefficients Coefficients;</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> Coefficients::CoeffReturnType CoeffReturnType;</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keyword">typedef</span> std::conditional_t&lt;bool(internal::traits&lt;Derived&gt;::Flags&amp;<a class="code" href="group__flags.html#gae2c323957f20dfdc6cb8f44428eaec1a">LvalueBit</a>),</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;                                  Scalar&amp;, CoeffReturnType&gt; NonConstCoeffReturnType;</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keyword">enum</span> {</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    Flags = Eigen::internal::traits&lt;Derived&gt;::Flags</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  };</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; <span class="comment">// typedef typename Matrix&lt;Scalar,4,1&gt; Coefficients;</span></div>
<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classEigen_1_1QuaternionBase.html#a974c0529d55983b0b3a6d99a8466f331">   59</a></span>&#160;<span class="comment"></span>  <span class="keyword">typedef</span> <a class="code" href="classEigen_1_1Matrix.html">Matrix&lt;Scalar,3,1&gt;</a> <a class="code" href="classEigen_1_1QuaternionBase.html#a974c0529d55983b0b3a6d99a8466f331">Vector3</a>;</div>
<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="classEigen_1_1QuaternionBase.html#ac3972e6cb0f56cccbe9e3946a7e494f8">   61</a></span>&#160;  <span class="keyword">typedef</span> <a class="code" href="classEigen_1_1Matrix.html">Matrix&lt;Scalar,3,3&gt;</a> <a class="code" href="classEigen_1_1QuaternionBase.html#ac3972e6cb0f56cccbe9e3946a7e494f8">Matrix3</a>;</div>
<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classEigen_1_1QuaternionBase.html#aed266c63b10a4028304901d9c8614199">   63</a></span>&#160;  <span class="keyword">typedef</span> <a class="code" href="classEigen_1_1AngleAxis.html">AngleAxis&lt;Scalar&gt;</a> <a class="code" href="classEigen_1_1QuaternionBase.html#aed266c63b10a4028304901d9c8614199">AngleAxisType</a>;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classEigen_1_1QuaternionBase.html#afdd8e260d5de861a6136cb9e6ceaa4b4">   68</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> CoeffReturnType <a class="code" href="classEigen_1_1QuaternionBase.html#afdd8e260d5de861a6136cb9e6ceaa4b4">x</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> this-&gt;derived().coeffs().coeff(0); }</div>
<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="classEigen_1_1QuaternionBase.html#aad37efca5d9fde3f4cb03a208f38d74f">   70</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> CoeffReturnType <a class="code" href="classEigen_1_1QuaternionBase.html#aad37efca5d9fde3f4cb03a208f38d74f">y</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> this-&gt;derived().coeffs().coeff(1); }</div>
<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="classEigen_1_1QuaternionBase.html#a8389b65a61aa3fc76d3ba4bd4a63e529">   72</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> CoeffReturnType <a class="code" href="classEigen_1_1QuaternionBase.html#a8389b65a61aa3fc76d3ba4bd4a63e529">z</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> this-&gt;derived().coeffs().coeff(2); }</div>
<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classEigen_1_1QuaternionBase.html#ab5eae91bedac0afaab0074cec5e535bc">   74</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> CoeffReturnType <a class="code" href="classEigen_1_1QuaternionBase.html#ab5eae91bedac0afaab0074cec5e535bc">w</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> this-&gt;derived().coeffs().coeff(3); }</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classEigen_1_1QuaternionBase.html#a8b05bac2a1c099b341396f725e85f3b1">   77</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> NonConstCoeffReturnType <a class="code" href="classEigen_1_1QuaternionBase.html#a8b05bac2a1c099b341396f725e85f3b1">x</a>() { <span class="keywordflow">return</span> this-&gt;derived().coeffs().x(); }</div>
<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="classEigen_1_1QuaternionBase.html#a6005245a72520df258d30af6b5448595">   79</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> NonConstCoeffReturnType <a class="code" href="classEigen_1_1QuaternionBase.html#a6005245a72520df258d30af6b5448595">y</a>() { <span class="keywordflow">return</span> this-&gt;derived().coeffs().y(); }</div>
<div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="classEigen_1_1QuaternionBase.html#a9afed6a7fa4fcdfbe599d7b5b207fc1b">   81</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> NonConstCoeffReturnType <a class="code" href="classEigen_1_1QuaternionBase.html#a9afed6a7fa4fcdfbe599d7b5b207fc1b">z</a>() { <span class="keywordflow">return</span> this-&gt;derived().coeffs().z(); }</div>
<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="classEigen_1_1QuaternionBase.html#ad884cf20a0b0b92bb63ab3fe9d6d6b7f">   83</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> NonConstCoeffReturnType <a class="code" href="classEigen_1_1QuaternionBase.html#ad884cf20a0b0b92bb63ab3fe9d6d6b7f">w</a>() { <span class="keywordflow">return</span> this-&gt;derived().coeffs().w(); }</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="classEigen_1_1QuaternionBase.html#ada8bdb403471df23511bdc0f227962ea">   86</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <span class="keyword">const</span> <a class="code" href="classEigen_1_1VectorBlock.html">VectorBlock&lt;const Coefficients,3&gt;</a> <a class="code" href="classEigen_1_1QuaternionBase.html#ada8bdb403471df23511bdc0f227962ea">vec</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1QuaternionBase.html#a193e79f616335a0067e3e784c7cf85fa">coeffs</a>().template head&lt;3&gt;(); }</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="classEigen_1_1QuaternionBase.html#a91f93bde88f52796cfcd92c3594f39e5">   89</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1VectorBlock.html">VectorBlock&lt;Coefficients,3&gt;</a> <a class="code" href="classEigen_1_1QuaternionBase.html#a91f93bde88f52796cfcd92c3594f39e5">vec</a>() { <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1QuaternionBase.html#a193e79f616335a0067e3e784c7cf85fa">coeffs</a>().template head&lt;3&gt;(); }</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
<div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="classEigen_1_1QuaternionBase.html#a193e79f616335a0067e3e784c7cf85fa">   92</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <span class="keyword">const</span> <span class="keyword">typename</span> internal::traits&lt;Derived&gt;::Coefficients&amp; <a class="code" href="classEigen_1_1QuaternionBase.html#a193e79f616335a0067e3e784c7cf85fa">coeffs</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> derived().coeffs(); }</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="classEigen_1_1QuaternionBase.html#ae61294790c0cc308d3f69690a657672c">   95</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <span class="keyword">typename</span> internal::traits&lt;Derived&gt;::Coefficients&amp; <a class="code" href="classEigen_1_1QuaternionBase.html#ae61294790c0cc308d3f69690a657672c">coeffs</a>() { <span class="keywordflow">return</span> derived().coeffs(); }</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE <a class="code" href="classEigen_1_1QuaternionBase.html">QuaternionBase&lt;Derived&gt;</a>&amp; operator=(<span class="keyword">const</span> <a class="code" href="classEigen_1_1QuaternionBase.html">QuaternionBase&lt;Derived&gt;</a>&amp; other);</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">class</span> OtherDerived&gt; EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived&amp; operator=(<span class="keyword">const</span> <a class="code" href="classEigen_1_1QuaternionBase.html">QuaternionBase&lt;OtherDerived&gt;</a>&amp; other);</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;<span class="comment">// disabled this copy operator as it is giving very strange compilation errors when compiling</span></div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;<span class="comment">// test_stdvector with GCC 4.4.2. This looks like a GCC bug though, so feel free to re-enable it if it&#39;s</span></div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;<span class="comment">// useful; however notice that we already have the templated operator= above and e.g. in MatrixBase</span></div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;<span class="comment">// we didn&#39;t have to add, in addition to templated operator=, such a non-templated copy operator.</span></div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;<span class="comment">//  Derived&amp; operator=(const QuaternionBase&amp; other)</span></div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;<span class="comment">//  { return operator=&lt;Derived&gt;(other); }</span></div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="classEigen_1_1QuaternionBase.html#aa7c114c6e62a37d4fc53b6e82ed78eac">  107</a></span>&#160;  EIGEN_DEVICE_FUNC Derived&amp; <a class="code" href="classEigen_1_1QuaternionBase.html#aa7c114c6e62a37d4fc53b6e82ed78eac">operator=</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1AngleAxis.html">AngleAxisType</a>&amp; aa);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">class</span> OtherDerived&gt; EIGEN_DEVICE_FUNC Derived&amp; operator=(<span class="keyword">const</span> <a class="code" href="classEigen_1_1MatrixBase.html">MatrixBase&lt;OtherDerived&gt;</a>&amp; m);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="classEigen_1_1QuaternionBase.html#a6f31a6f98016f186515b3277f4757962">  113</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">static</span> <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Quaternion.html">Quaternion&lt;Scalar&gt;</a> <a class="code" href="classEigen_1_1QuaternionBase.html#a6f31a6f98016f186515b3277f4757962">Identity</a>() { <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1Quaternion.html">Quaternion&lt;Scalar&gt;</a>(Scalar(1), Scalar(0), Scalar(0), Scalar(0)); }</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno"><a class="line" href="classEigen_1_1QuaternionBase.html#a4695b0f6eebfb217ae2fbd579ceda24a">  117</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1QuaternionBase.html">QuaternionBase</a>&amp; <a class="code" href="classEigen_1_1QuaternionBase.html#a4695b0f6eebfb217ae2fbd579ceda24a">setIdentity</a>() { <a class="code" href="classEigen_1_1QuaternionBase.html#a193e79f616335a0067e3e784c7cf85fa">coeffs</a>() &lt;&lt; Scalar(0), Scalar(0), Scalar(0), Scalar(1); <span class="keywordflow">return</span> *<span class="keyword">this</span>; }</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno"><a class="line" href="classEigen_1_1QuaternionBase.html#a09730db4ef0b546f5cf29f6b180b3c87">  122</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> Scalar <a class="code" href="classEigen_1_1QuaternionBase.html#a09730db4ef0b546f5cf29f6b180b3c87">squaredNorm</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1QuaternionBase.html#a193e79f616335a0067e3e784c7cf85fa">coeffs</a>().squaredNorm(); }</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno"><a class="line" href="classEigen_1_1QuaternionBase.html#aad4b1faef1eabdc7fdd4d305e9881149">  127</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> Scalar <a class="code" href="classEigen_1_1QuaternionBase.html#aad4b1faef1eabdc7fdd4d305e9881149">norm</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1QuaternionBase.html#a193e79f616335a0067e3e784c7cf85fa">coeffs</a>().norm(); }</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno"><a class="line" href="classEigen_1_1QuaternionBase.html#a7a487a8a129b46be562f42044102c1f8">  131</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classEigen_1_1QuaternionBase.html#a7a487a8a129b46be562f42044102c1f8">normalize</a>() { <a class="code" href="classEigen_1_1QuaternionBase.html#a193e79f616335a0067e3e784c7cf85fa">coeffs</a>().normalize(); }</div>
<div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="classEigen_1_1QuaternionBase.html#ade799f18b7ec19c02ddae3a4921fa8a0">  134</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Quaternion.html">Quaternion&lt;Scalar&gt;</a> <a class="code" href="classEigen_1_1QuaternionBase.html#ade799f18b7ec19c02ddae3a4921fa8a0">normalized</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1Quaternion.html">Quaternion&lt;Scalar&gt;</a>(<a class="code" href="classEigen_1_1QuaternionBase.html#a193e79f616335a0067e3e784c7cf85fa">coeffs</a>().<a class="code" href="classEigen_1_1QuaternionBase.html#ade799f18b7ec19c02ddae3a4921fa8a0">normalized</a>()); }</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno"><a class="line" href="classEigen_1_1QuaternionBase.html#aa2d22c5b321c9539dd625ca415422236">  141</a></span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">class</span> OtherDerived&gt; EIGEN_DEVICE_FUNC <span class="keyword">inline</span> Scalar <a class="code" href="classEigen_1_1QuaternionBase.html#aa2d22c5b321c9539dd625ca415422236">dot</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1QuaternionBase.html">QuaternionBase&lt;OtherDerived&gt;</a>&amp; other)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1QuaternionBase.html#a193e79f616335a0067e3e784c7cf85fa">coeffs</a>().dot(other.<a class="code" href="classEigen_1_1QuaternionBase.html#a193e79f616335a0067e3e784c7cf85fa">coeffs</a>()); }</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">class</span> OtherDerived&gt; EIGEN_DEVICE_FUNC Scalar angularDistance(<span class="keyword">const</span> <a class="code" href="classEigen_1_1QuaternionBase.html">QuaternionBase&lt;OtherDerived&gt;</a>&amp; other) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00146"></a><span class="lineno"><a class="line" href="classEigen_1_1QuaternionBase.html#a8cf07ab9875baba2eecdd62ff93bfc3f">  146</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Matrix.html">Matrix3</a> <a class="code" href="classEigen_1_1QuaternionBase.html#a8cf07ab9875baba2eecdd62ff93bfc3f">toRotationMatrix</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Derived1, <span class="keyword">typename</span> Derived2&gt;</div>
<div class="line"><a name="l00150"></a><span class="lineno"><a class="line" href="classEigen_1_1QuaternionBase.html#a7ae84bfbcc9f3f19f10294496a836bee">  150</a></span>&#160;  EIGEN_DEVICE_FUNC Derived&amp; <a class="code" href="classEigen_1_1QuaternionBase.html#a7ae84bfbcc9f3f19f10294496a836bee">setFromTwoVectors</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1MatrixBase.html">MatrixBase&lt;Derived1&gt;</a>&amp; a, <span class="keyword">const</span> <a class="code" href="classEigen_1_1MatrixBase.html">MatrixBase&lt;Derived2&gt;</a>&amp; b);</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">class</span> OtherDerived&gt; EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE <a class="code" href="classEigen_1_1Quaternion.html">Quaternion&lt;Scalar&gt;</a> operator* (<span class="keyword">const</span> <a class="code" href="classEigen_1_1QuaternionBase.html">QuaternionBase&lt;OtherDerived&gt;</a>&amp; q) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00153"></a><span class="lineno"><a class="line" href="classEigen_1_1QuaternionBase.html#afd8ee6b6420fbdd22fab7cd016212441">  153</a></span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">class</span> OtherDerived&gt; EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived&amp; <a class="code" href="classEigen_1_1QuaternionBase.html#afd8ee6b6420fbdd22fab7cd016212441">operator*= </a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1QuaternionBase.html">QuaternionBase&lt;OtherDerived&gt;</a>&amp; q);</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno"><a class="line" href="classEigen_1_1QuaternionBase.html#ab12ee41b3b06adc3062217a795a6a9f5">  156</a></span>&#160;  EIGEN_DEVICE_FUNC <a class="code" href="classEigen_1_1Quaternion.html">Quaternion&lt;Scalar&gt;</a> <a class="code" href="classEigen_1_1QuaternionBase.html#ab12ee41b3b06adc3062217a795a6a9f5">inverse</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno"><a class="line" href="classEigen_1_1QuaternionBase.html#a5e63b775d0a93161ce6137ec0a17f6b0">  159</a></span>&#160;  EIGEN_DEVICE_FUNC <a class="code" href="classEigen_1_1Quaternion.html">Quaternion&lt;Scalar&gt;</a> <a class="code" href="classEigen_1_1QuaternionBase.html#a5e63b775d0a93161ce6137ec0a17f6b0">conjugate</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">class</span> OtherDerived&gt; EIGEN_DEVICE_FUNC <a class="code" href="classEigen_1_1Quaternion.html">Quaternion&lt;Scalar&gt;</a> slerp(<span class="keyword">const</span> <a class="code" href="classEigen_1_1RotationBase.html#a942f03c9a5bfbad71a313aee8d37887e">Scalar</a>&amp; t, <span class="keyword">const</span> <a class="code" href="classEigen_1_1QuaternionBase.html">QuaternionBase&lt;OtherDerived&gt;</a>&amp; other) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">class</span> OtherDerived&gt;</div>
<div class="line"><a name="l00168"></a><span class="lineno"><a class="line" href="classEigen_1_1QuaternionBase.html#ad206c9014409c06970884dbfc00e6c3c">  168</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="classEigen_1_1QuaternionBase.html#ad206c9014409c06970884dbfc00e6c3c">operator==</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1QuaternionBase.html">QuaternionBase&lt;OtherDerived&gt;</a>&amp; other)<span class="keyword"> const</span></div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;<span class="keyword">  </span>{ <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1QuaternionBase.html#a193e79f616335a0067e3e784c7cf85fa">coeffs</a>() == other.<a class="code" href="classEigen_1_1QuaternionBase.html#a193e79f616335a0067e3e784c7cf85fa">coeffs</a>(); }</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">class</span> OtherDerived&gt;</div>
<div class="line"><a name="l00176"></a><span class="lineno"><a class="line" href="classEigen_1_1QuaternionBase.html#a530edf22f03853cd07ba829ea0d505dc">  176</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="classEigen_1_1QuaternionBase.html#a530edf22f03853cd07ba829ea0d505dc">operator!=</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1QuaternionBase.html">QuaternionBase&lt;OtherDerived&gt;</a>&amp; other)<span class="keyword"> const</span></div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;<span class="keyword">  </span>{ <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1QuaternionBase.html#a193e79f616335a0067e3e784c7cf85fa">coeffs</a>() != other.<a class="code" href="classEigen_1_1QuaternionBase.html#a193e79f616335a0067e3e784c7cf85fa">coeffs</a>(); }</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">class</span> OtherDerived&gt;</div>
<div class="line"><a name="l00184"></a><span class="lineno"><a class="line" href="classEigen_1_1QuaternionBase.html#a64bc41c96a9e99567e0f8409f8f0f680">  184</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keywordtype">bool</span> <a class="code" href="classEigen_1_1QuaternionBase.html#a64bc41c96a9e99567e0f8409f8f0f680">isApprox</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1QuaternionBase.html">QuaternionBase&lt;OtherDerived&gt;</a>&amp; other, <span class="keyword">const</span> RealScalar&amp; prec = <a class="code" href="structEigen_1_1NumTraits.html">NumTraits&lt;Scalar&gt;::dummy_precision</a>())<span class="keyword"> const</span></div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;<span class="keyword">  </span>{ <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1QuaternionBase.html#a193e79f616335a0067e3e784c7cf85fa">coeffs</a>().isApprox(other.<a class="code" href="classEigen_1_1QuaternionBase.html#a193e79f616335a0067e3e784c7cf85fa">coeffs</a>(), prec); }</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno"><a class="line" href="classEigen_1_1QuaternionBase.html#aabef1f6fc62535f6f85d590108915ee8">  188</a></span>&#160;  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE <a class="code" href="classEigen_1_1Matrix.html">Vector3</a> <a class="code" href="classEigen_1_1QuaternionBase.html#aabef1f6fc62535f6f85d590108915ee8">_transformVector</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Matrix.html">Vector3</a>&amp; v) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;<span class="preprocessor">  #ifdef EIGEN_PARSED_BY_DOXYGEN</span></div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> NewScalarType&gt;</div>
<div class="line"><a name="l00197"></a><span class="lineno"><a class="line" href="classEigen_1_1QuaternionBase.html#a951d627764be63ca1e8c2c4c7315e43f">  197</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <span class="keyword">typename</span> internal::cast_return_type&lt;Derived,Quaternion&lt;NewScalarType&gt; &gt;::type <a class="code" href="classEigen_1_1QuaternionBase.html#a951d627764be63ca1e8c2c4c7315e43f">cast</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160; </div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;<span class="preprocessor">  #else</span></div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160; </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> NewScalarType&gt;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span></div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;  std::enable_if_t&lt;internal::is_same&lt;Scalar,NewScalarType&gt;::value,<span class="keyword">const</span> Derived&amp;&gt; <a class="code" href="classEigen_1_1QuaternionBase.html#a951d627764be63ca1e8c2c4c7315e43f">cast</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;<span class="keyword">  </span>{</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    <span class="keywordflow">return</span> derived();</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;  }</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> NewScalarType&gt;</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span></div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  std::enable_if_t&lt;!internal::is_same&lt;Scalar,NewScalarType&gt;::value,<a class="code" href="classEigen_1_1Quaternion.html">Quaternion&lt;NewScalarType&gt;</a> &gt; <a class="code" href="classEigen_1_1QuaternionBase.html#a951d627764be63ca1e8c2c4c7315e43f">cast</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;<span class="keyword">  </span>{</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1Quaternion.html">Quaternion&lt;NewScalarType&gt;</a>(<a class="code" href="classEigen_1_1QuaternionBase.html#a193e79f616335a0067e3e784c7cf85fa">coeffs</a>().<span class="keyword">template</span> cast&lt;NewScalarType&gt;());</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;  }</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;<span class="preprocessor">  #endif</span></div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160; </div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;<span class="preprocessor">#ifndef EIGEN_NO_IO</span></div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;  <span class="keyword">friend</span> std::ostream&amp; operator&lt;&lt;(std::ostream&amp; s, <span class="keyword">const</span> QuaternionBase&lt;Derived&gt;&amp; q) {</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    s &lt;&lt; q.x() &lt;&lt; <span class="stringliteral">&quot;i + &quot;</span> &lt;&lt; q.y() &lt;&lt; <span class="stringliteral">&quot;j + &quot;</span> &lt;&lt; q.z() &lt;&lt; <span class="stringliteral">&quot;k&quot;</span> &lt;&lt; <span class="stringliteral">&quot; + &quot;</span> &lt;&lt; q.w();</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    <span class="keywordflow">return</span> s;</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  }</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160; </div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;<span class="preprocessor">#ifdef EIGEN_QUATERNIONBASE_PLUGIN</span></div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;<span class="preprocessor"># include EIGEN_QUATERNIONBASE_PLUGIN</span></div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;<span class="keyword">protected</span>:</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;  EIGEN_DEFAULT_COPY_CONSTRUCTOR(QuaternionBase)</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(QuaternionBase)</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;};</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160; </div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;<span class="comment">/***************************************************************************</span></div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;<span class="comment">* Definition/implementation of Quaternion&lt;Scalar&gt;</span></div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;<span class="comment">***************************************************************************/</span></div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160; </div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;<span class="keyword">namespace </span>internal {</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar_,<span class="keywordtype">int</span> Options_&gt;</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;<span class="keyword">struct </span>traits&lt;Quaternion&lt;Scalar_,Options_&gt; &gt;</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;{</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;  <span class="keyword">typedef</span> Quaternion&lt;Scalar_,Options_&gt; PlainObject;</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;  <span class="keyword">typedef</span> Scalar_ Scalar;</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;  <span class="keyword">typedef</span> Matrix&lt;Scalar_,4,1,Options_&gt; Coefficients;</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;  <span class="keyword">enum</span>{</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;    Alignment = internal::traits&lt;Coefficients&gt;::Alignment,</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;    Flags = <a class="code" href="group__flags.html#gae2c323957f20dfdc6cb8f44428eaec1a">LvalueBit</a></div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;  };</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;};</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;}</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160; </div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar_, <span class="keywordtype">int</span> Options_&gt;</div>
<div class="line"><a name="l00275"></a><span class="lineno"><a class="line" href="classEigen_1_1Quaternion.html">  275</a></span>&#160;<span class="keyword">class </span><a class="code" href="classEigen_1_1Quaternion.html">Quaternion</a> : <span class="keyword">public</span> <a class="code" href="classEigen_1_1QuaternionBase.html">QuaternionBase</a>&lt;Quaternion&lt;Scalar_,Options_&gt; &gt;</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;{</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;  <span class="keyword">typedef</span> <a class="code" href="classEigen_1_1QuaternionBase.html">QuaternionBase&lt;Quaternion&lt;Scalar_,Options_&gt;</a> &gt; <a class="code" href="classEigen_1_1QuaternionBase.html">Base</a>;</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;  <span class="keyword">enum</span> { NeedsAlignment = internal::traits&lt;Quaternion&gt;::Alignment&gt;0 };</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160; </div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;  <span class="keyword">typedef</span> Scalar_ Scalar;</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160; </div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;  EIGEN_INHERIT_ASSIGNMENT_OPERATORS(<a class="code" href="classEigen_1_1Quaternion.html">Quaternion</a>)</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;  <span class="keyword">using</span> Base::operator*=;</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160; </div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> internal::traits&lt;Quaternion&gt;::Coefficients Coefficients;</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classEigen_1_1AngleAxis.html">Base::AngleAxisType</a> <a class="code" href="classEigen_1_1AngleAxis.html">AngleAxisType</a>;</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160; </div>
<div class="line"><a name="l00290"></a><span class="lineno"><a class="line" href="classEigen_1_1Quaternion.html#a95ec12842db82e0980e2522c7177487d">  290</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Quaternion.html#a95ec12842db82e0980e2522c7177487d">Quaternion</a>() {}</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160; </div>
<div class="line"><a name="l00299"></a><span class="lineno"><a class="line" href="classEigen_1_1Quaternion.html#a3eba7a582f77a8f30525614821d7056f">  299</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Quaternion.html#a3eba7a582f77a8f30525614821d7056f">Quaternion</a>(<span class="keyword">const</span> Scalar&amp; <a class="code" href="classEigen_1_1QuaternionBase.html#ab5eae91bedac0afaab0074cec5e535bc">w</a>, <span class="keyword">const</span> Scalar&amp; <a class="code" href="classEigen_1_1QuaternionBase.html#afdd8e260d5de861a6136cb9e6ceaa4b4">x</a>, <span class="keyword">const</span> Scalar&amp; <a class="code" href="classEigen_1_1QuaternionBase.html#aad37efca5d9fde3f4cb03a208f38d74f">y</a>, <span class="keyword">const</span> Scalar&amp; <a class="code" href="classEigen_1_1QuaternionBase.html#a8389b65a61aa3fc76d3ba4bd4a63e529">z</a>) : m_coeffs(<a class="code" href="classEigen_1_1QuaternionBase.html#afdd8e260d5de861a6136cb9e6ceaa4b4">x</a>, <a class="code" href="classEigen_1_1QuaternionBase.html#aad37efca5d9fde3f4cb03a208f38d74f">y</a>, <a class="code" href="classEigen_1_1QuaternionBase.html#a8389b65a61aa3fc76d3ba4bd4a63e529">z</a>, <a class="code" href="classEigen_1_1QuaternionBase.html#ab5eae91bedac0afaab0074cec5e535bc">w</a>){}</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160; </div>
<div class="line"><a name="l00302"></a><span class="lineno"><a class="line" href="classEigen_1_1Quaternion.html#af38dbd1896bfac232d13ebd88b6f0243">  302</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">explicit</span> <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Quaternion.html#af38dbd1896bfac232d13ebd88b6f0243">Quaternion</a>(<span class="keyword">const</span> Scalar* data) : m_coeffs(data) {}</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160; </div>
<div class="line"><a name="l00305"></a><span class="lineno"><a class="line" href="classEigen_1_1Quaternion.html#a4f56642e3f2d9e594b627d3c7620e41a">  305</a></span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">class</span> Derived&gt; EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE <a class="code" href="classEigen_1_1Quaternion.html#a4f56642e3f2d9e594b627d3c7620e41a">Quaternion</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1QuaternionBase.html">QuaternionBase&lt;Derived&gt;</a>&amp; other) { this-&gt;Base::operator=(other); }</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160; </div>
<div class="line"><a name="l00308"></a><span class="lineno"><a class="line" href="classEigen_1_1Quaternion.html#a943e557caacc45202b3e4427ffa7d5fc">  308</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">explicit</span> <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Quaternion.html#a943e557caacc45202b3e4427ffa7d5fc">Quaternion</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1AngleAxis.html">AngleAxisType</a>&amp; aa) { *<span class="keyword">this</span> = aa; }</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160; </div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Derived&gt;</div>
<div class="line"><a name="l00315"></a><span class="lineno"><a class="line" href="classEigen_1_1Quaternion.html#a82d58d74e9c895715b24807c9096296f">  315</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">explicit</span> <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Quaternion.html#a82d58d74e9c895715b24807c9096296f">Quaternion</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1MatrixBase.html">MatrixBase&lt;Derived&gt;</a>&amp; other) { *<span class="keyword">this</span> = other; }</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160; </div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> OtherScalar, <span class="keywordtype">int</span> OtherOptions&gt;</div>
<div class="line"><a name="l00319"></a><span class="lineno"><a class="line" href="classEigen_1_1Quaternion.html#a2dc6d524146228c63297f6ddf1c8c58e">  319</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">explicit</span> <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Quaternion.html#a2dc6d524146228c63297f6ddf1c8c58e">Quaternion</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Quaternion.html">Quaternion&lt;OtherScalar, OtherOptions&gt;</a>&amp; other)</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;  { m_coeffs = other.coeffs().template cast&lt;Scalar&gt;(); }</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160; </div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;  <span class="comment">// We define a copy constructor, which means we don&#39;t get an implicit move constructor or assignment operator.</span></div>
<div class="line"><a name="l00324"></a><span class="lineno"><a class="line" href="classEigen_1_1Quaternion.html#adace99a7ef09d63b32a5fa2183a04636">  324</a></span>&#160;<span class="comment"></span>  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Quaternion.html#adace99a7ef09d63b32a5fa2183a04636">Quaternion</a>(<a class="code" href="classEigen_1_1Quaternion.html">Quaternion</a>&amp;&amp; other) EIGEN_NOEXCEPT_IF(std::is_nothrow_move_constructible&lt;Scalar&gt;::value)</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;    : m_coeffs(std::move(other.coeffs()))</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;  {}</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160; </div>
<div class="line"><a name="l00329"></a><span class="lineno"><a class="line" href="classEigen_1_1Quaternion.html#a03c8c147accb998913cbb8043e2a1293">  329</a></span>&#160;  EIGEN_DEVICE_FUNC <a class="code" href="classEigen_1_1Quaternion.html">Quaternion</a>&amp; <a class="code" href="classEigen_1_1Quaternion.html#a03c8c147accb998913cbb8043e2a1293">operator=</a>(<a class="code" href="classEigen_1_1Quaternion.html">Quaternion</a>&amp;&amp; other) EIGEN_NOEXCEPT_IF(std::is_nothrow_move_assignable&lt;Scalar&gt;::value)</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;  {</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;    m_coeffs = std::move(other.<a class="code" href="classEigen_1_1QuaternionBase.html#a193e79f616335a0067e3e784c7cf85fa">coeffs</a>());</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;    <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;  }</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160; </div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">static</span> <a class="code" href="classEigen_1_1Quaternion.html">Quaternion</a> <a class="code" href="classEigen_1_1Quaternion.html#a7da87cda5567ff1e860782d638643868">UnitRandom</a>();</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160; </div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Derived1, <span class="keyword">typename</span> Derived2&gt;</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">static</span> <a class="code" href="classEigen_1_1Quaternion.html">Quaternion</a> FromTwoVectors(<span class="keyword">const</span> <a class="code" href="classEigen_1_1MatrixBase.html">MatrixBase&lt;Derived1&gt;</a>&amp; a, <span class="keyword">const</span> <a class="code" href="classEigen_1_1MatrixBase.html">MatrixBase&lt;Derived2&gt;</a>&amp; b);</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160; </div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> Coefficients&amp; coeffs() { <span class="keywordflow">return</span> m_coeffs;}</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <span class="keyword">const</span> Coefficients&amp; coeffs()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_coeffs;}</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160; </div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(<span class="keywordtype">bool</span>(NeedsAlignment))</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160; </div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;<span class="preprocessor">#ifdef EIGEN_QUATERNION_PLUGIN</span></div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;<span class="preprocessor"># include EIGEN_QUATERNION_PLUGIN</span></div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160; </div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;<span class="keyword">protected</span>:</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;  Coefficients m_coeffs;</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160; </div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;<span class="preprocessor">#ifndef EIGEN_PARSED_BY_DOXYGEN</span></div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;  EIGEN_STATIC_ASSERT( (Options_ &amp; <a class="code" href="group__enums.html#ggaacded1a18ae58b0f554751f6cdf9eb13a56908522e51443a0aa0567f879c2e78a">DontAlign</a>) == Options_,</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;                       INVALID_MATRIX_TEMPLATE_PARAMETERS)</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;};</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160; </div>
<div class="line"><a name="l00360"></a><span class="lineno"><a class="line" href="group__Geometry__Module.html#ga66aa915a26d698c60ed206818c3e4c9b">  360</a></span>&#160;<span class="keyword">typedef</span> <a class="code" href="classEigen_1_1Quaternion.html">Quaternion&lt;float&gt;</a> <a class="code" href="group__Geometry__Module.html#ga66aa915a26d698c60ed206818c3e4c9b">Quaternionf</a>;</div>
<div class="line"><a name="l00363"></a><span class="lineno"><a class="line" href="group__Geometry__Module.html#ga5daab8e66aa480465000308455578830">  363</a></span>&#160;<span class="keyword">typedef</span> <a class="code" href="classEigen_1_1Quaternion.html">Quaternion&lt;double&gt;</a> <a class="code" href="group__Geometry__Module.html#ga5daab8e66aa480465000308455578830">Quaterniond</a>;</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160; </div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;<span class="comment">/***************************************************************************</span></div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;<span class="comment">* Specialization of Map&lt;Quaternion&lt;Scalar&gt;&gt;</span></div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;<span class="comment">***************************************************************************/</span></div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160; </div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;<span class="keyword">namespace </span>internal {</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar_, <span class="keywordtype">int</span> Options_&gt;</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;  <span class="keyword">struct </span>traits&lt;<a class="code" href="classEigen_1_1Map.html">Map</a>&lt;<a class="code" href="classEigen_1_1Quaternion.html">Quaternion</a>&lt;Scalar_&gt;, Options_&gt; &gt; : traits&lt;Quaternion&lt;Scalar_, (int(Options_)&amp;Aligned)==Aligned ? AutoAlign : DontAlign&gt; &gt;</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;  {</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;    <span class="keyword">typedef</span> <a class="code" href="classEigen_1_1Map.html">Map&lt;Matrix&lt;Scalar_,4,1&gt;</a>, Options_&gt; Coefficients;</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;  };</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;}</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160; </div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;<span class="keyword">namespace </span>internal {</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar_, <span class="keywordtype">int</span> Options_&gt;</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;  <span class="keyword">struct </span>traits&lt;Map&lt;const Quaternion&lt;Scalar_&gt;, Options_&gt; &gt; : traits&lt;Quaternion&lt;Scalar_, (int(Options_)&amp;Aligned)==Aligned ? AutoAlign : DontAlign&gt; &gt;</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;  {</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;    <span class="keyword">typedef</span> Map&lt;const Matrix&lt;Scalar_,4,1&gt;, Options_&gt; Coefficients;</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;    <span class="keyword">typedef</span> traits&lt;Quaternion&lt;Scalar_, (int(Options_)&amp;<a class="code" href="group__enums.html#gga45fe06e29902b7a2773de05ba27b47a1ae12d0f8f869c40c76128260af2242bc8">Aligned</a>)==<a class="code" href="group__enums.html#gga45fe06e29902b7a2773de05ba27b47a1ae12d0f8f869c40c76128260af2242bc8">Aligned</a> ? <a class="code" href="group__enums.html#ggaacded1a18ae58b0f554751f6cdf9eb13ad0e7f67d40bcde3d41c12849b16ce6ea">AutoAlign</a> : <a class="code" href="group__enums.html#ggaacded1a18ae58b0f554751f6cdf9eb13a56908522e51443a0aa0567f879c2e78a">DontAlign</a>&gt; &gt; TraitsBase;</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;    <span class="keyword">enum</span> {</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;      Flags = TraitsBase::Flags &amp; ~<a class="code" href="group__flags.html#gae2c323957f20dfdc6cb8f44428eaec1a">LvalueBit</a></div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;    };</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;  };</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;}</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160; </div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar_, <span class="keywordtype">int</span> Options_&gt;</div>
<div class="line"><a name="l00401"></a><span class="lineno"><a class="line" href="classEigen_1_1Map_3_01const_01Quaternion_3_01Scalar___01_4_00_01Options___01_4.html">  401</a></span>&#160;<span class="keyword">class </span><a class="code" href="classEigen_1_1Map.html">Map</a>&lt;const <a class="code" href="classEigen_1_1Quaternion.html">Quaternion</a>&lt;Scalar_&gt;, Options_ &gt;</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;  : <span class="keyword">public</span> <a class="code" href="classEigen_1_1QuaternionBase.html">QuaternionBase</a>&lt;Map&lt;const Quaternion&lt;Scalar_&gt;, Options_&gt; &gt;</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;{</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;    <span class="keyword">typedef</span> <a class="code" href="classEigen_1_1QuaternionBase.html">QuaternionBase&lt;Map&lt;const Quaternion&lt;Scalar_&gt;</a>, Options_&gt; &gt; <a class="code" href="classEigen_1_1QuaternionBase.html">Base</a>;</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160; </div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;    <span class="keyword">typedef</span> Scalar_ Scalar;</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> internal::traits&lt;Map&gt;::Coefficients Coefficients;</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(<a class="code" href="classEigen_1_1Map.html">Map</a>)</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;    <span class="keyword">using</span> Base::operator*=;</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160; </div>
<div class="line"><a name="l00418"></a><span class="lineno"><a class="line" href="classEigen_1_1Map_3_01const_01Quaternion_3_01Scalar___01_4_00_01Options___01_4.html#a0e801675aabae3deb258211c148521df">  418</a></span>&#160;    EIGEN_DEVICE_FUNC <span class="keyword">explicit</span> EIGEN_STRONG_INLINE <a class="code" href="classEigen_1_1Map_3_01const_01Quaternion_3_01Scalar___01_4_00_01Options___01_4.html#a0e801675aabae3deb258211c148521df">Map</a>(<span class="keyword">const</span> Scalar* coeffs) : m_coeffs(coeffs) {}</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160; </div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;    EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <span class="keyword">const</span> Coefficients&amp; coeffs()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_coeffs;}</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160; </div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;    <span class="keyword">const</span> Coefficients m_coeffs;</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;};</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160; </div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar_, <span class="keywordtype">int</span> Options_&gt;</div>
<div class="line"><a name="l00438"></a><span class="lineno"><a class="line" href="classEigen_1_1Map_3_01Quaternion_3_01Scalar___01_4_00_01Options___01_4.html">  438</a></span>&#160;<span class="keyword">class </span><a class="code" href="classEigen_1_1Map.html">Map</a>&lt;<a class="code" href="classEigen_1_1Quaternion.html">Quaternion</a>&lt;Scalar_&gt;, Options_ &gt;</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;  : <span class="keyword">public</span> <a class="code" href="classEigen_1_1QuaternionBase.html">QuaternionBase</a>&lt;Map&lt;Quaternion&lt;Scalar_&gt;, Options_&gt; &gt;</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;{</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;    <span class="keyword">typedef</span> <a class="code" href="classEigen_1_1QuaternionBase.html">QuaternionBase&lt;Map&lt;Quaternion&lt;Scalar_&gt;</a>, Options_&gt; &gt; <a class="code" href="classEigen_1_1QuaternionBase.html">Base</a>;</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160; </div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;    <span class="keyword">typedef</span> Scalar_ Scalar;</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> internal::traits&lt;Map&gt;::Coefficients Coefficients;</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(<a class="code" href="classEigen_1_1Map.html">Map</a>)</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;    <span class="keyword">using</span> Base::operator*=;</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160; </div>
<div class="line"><a name="l00455"></a><span class="lineno"><a class="line" href="classEigen_1_1Map_3_01Quaternion_3_01Scalar___01_4_00_01Options___01_4.html#a41caca423b2e33cc90a1cf0a6a3e642f">  455</a></span>&#160;    EIGEN_DEVICE_FUNC <span class="keyword">explicit</span> EIGEN_STRONG_INLINE <a class="code" href="classEigen_1_1Map_3_01Quaternion_3_01Scalar___01_4_00_01Options___01_4.html#a41caca423b2e33cc90a1cf0a6a3e642f">Map</a>(Scalar* coeffs) : m_coeffs(coeffs) {}</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160; </div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;    EIGEN_DEVICE_FUNC <span class="keyword">inline</span> Coefficients&amp; coeffs() { <span class="keywordflow">return</span> m_coeffs; }</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;    EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <span class="keyword">const</span> Coefficients&amp; coeffs()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_coeffs; }</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160; </div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;    Coefficients m_coeffs;</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;};</div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160; </div>
<div class="line"><a name="l00466"></a><span class="lineno"><a class="line" href="group__Geometry__Module.html#ga867ff508ac860bdf7cab3b8a8fc1048d">  466</a></span>&#160;<span class="keyword">typedef</span> <a class="code" href="classEigen_1_1Map.html">Map&lt;Quaternion&lt;float&gt;</a>, 0&gt;         <a class="code" href="group__Geometry__Module.html#ga867ff508ac860bdf7cab3b8a8fc1048d">QuaternionMapf</a>;</div>
<div class="line"><a name="l00469"></a><span class="lineno"><a class="line" href="group__Geometry__Module.html#ga89412d1dcf23537e5990dfb3089ace76">  469</a></span>&#160;<span class="keyword">typedef</span> <a class="code" href="classEigen_1_1Map.html">Map&lt;Quaternion&lt;double&gt;</a>, 0&gt;        <a class="code" href="group__Geometry__Module.html#ga89412d1dcf23537e5990dfb3089ace76">QuaternionMapd</a>;</div>
<div class="line"><a name="l00472"></a><span class="lineno"><a class="line" href="group__Geometry__Module.html#gadaf7f3ee984d9828ca94d66355f0b226">  472</a></span>&#160;<span class="keyword">typedef</span> <a class="code" href="classEigen_1_1Map.html">Map&lt;Quaternion&lt;float&gt;</a>, <a class="code" href="group__enums.html#gga45fe06e29902b7a2773de05ba27b47a1ae12d0f8f869c40c76128260af2242bc8">Aligned</a>&gt;   <a class="code" href="group__Geometry__Module.html#gadaf7f3ee984d9828ca94d66355f0b226">QuaternionMapAlignedf</a>;</div>
<div class="line"><a name="l00475"></a><span class="lineno"><a class="line" href="group__Geometry__Module.html#ga4289f38cc6ecf302e07d2365abc6a902">  475</a></span>&#160;<span class="keyword">typedef</span> <a class="code" href="classEigen_1_1Map.html">Map&lt;Quaternion&lt;double&gt;</a>, <a class="code" href="group__enums.html#gga45fe06e29902b7a2773de05ba27b47a1ae12d0f8f869c40c76128260af2242bc8">Aligned</a>&gt;  <a class="code" href="group__Geometry__Module.html#ga4289f38cc6ecf302e07d2365abc6a902">QuaternionMapAlignedd</a>;</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160; </div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;<span class="comment">/***************************************************************************</span></div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;<span class="comment">* Implementation of QuaternionBase methods</span></div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;<span class="comment">***************************************************************************/</span></div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160; </div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;<span class="comment">// Generic Quaternion * Quaternion product</span></div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;<span class="comment">// This product can be specialized for a given architecture via the Arch template argument.</span></div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;<span class="keyword">namespace </span>internal {</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;<span class="keyword">template</span>&lt;<span class="keywordtype">int</span> Arch, <span class="keyword">class</span> Derived1, <span class="keyword">class</span> Derived2, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">struct </span>quat_product</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;{</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">static</span> EIGEN_STRONG_INLINE <a class="code" href="classEigen_1_1Quaternion.html">Quaternion&lt;Scalar&gt;</a> run(<span class="keyword">const</span> <a class="code" href="classEigen_1_1QuaternionBase.html">QuaternionBase&lt;Derived1&gt;</a>&amp; a, <span class="keyword">const</span> <a class="code" href="classEigen_1_1QuaternionBase.html">QuaternionBase&lt;Derived2&gt;</a>&amp; b){</div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1Quaternion.html">Quaternion&lt;Scalar&gt;</a></div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;    (</div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;      a.<a class="code" href="classEigen_1_1QuaternionBase.html#ab5eae91bedac0afaab0074cec5e535bc">w</a>() * b.<a class="code" href="classEigen_1_1QuaternionBase.html#ab5eae91bedac0afaab0074cec5e535bc">w</a>() - a.<a class="code" href="classEigen_1_1QuaternionBase.html#afdd8e260d5de861a6136cb9e6ceaa4b4">x</a>() * b.<a class="code" href="classEigen_1_1QuaternionBase.html#afdd8e260d5de861a6136cb9e6ceaa4b4">x</a>() - a.<a class="code" href="classEigen_1_1QuaternionBase.html#aad37efca5d9fde3f4cb03a208f38d74f">y</a>() * b.<a class="code" href="classEigen_1_1QuaternionBase.html#aad37efca5d9fde3f4cb03a208f38d74f">y</a>() - a.<a class="code" href="classEigen_1_1QuaternionBase.html#a8389b65a61aa3fc76d3ba4bd4a63e529">z</a>() * b.<a class="code" href="classEigen_1_1QuaternionBase.html#a8389b65a61aa3fc76d3ba4bd4a63e529">z</a>(),</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;      a.<a class="code" href="classEigen_1_1QuaternionBase.html#ab5eae91bedac0afaab0074cec5e535bc">w</a>() * b.<a class="code" href="classEigen_1_1QuaternionBase.html#afdd8e260d5de861a6136cb9e6ceaa4b4">x</a>() + a.<a class="code" href="classEigen_1_1QuaternionBase.html#afdd8e260d5de861a6136cb9e6ceaa4b4">x</a>() * b.<a class="code" href="classEigen_1_1QuaternionBase.html#ab5eae91bedac0afaab0074cec5e535bc">w</a>() + a.<a class="code" href="classEigen_1_1QuaternionBase.html#aad37efca5d9fde3f4cb03a208f38d74f">y</a>() * b.<a class="code" href="classEigen_1_1QuaternionBase.html#a8389b65a61aa3fc76d3ba4bd4a63e529">z</a>() - a.<a class="code" href="classEigen_1_1QuaternionBase.html#a8389b65a61aa3fc76d3ba4bd4a63e529">z</a>() * b.<a class="code" href="classEigen_1_1QuaternionBase.html#aad37efca5d9fde3f4cb03a208f38d74f">y</a>(),</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;      a.<a class="code" href="classEigen_1_1QuaternionBase.html#ab5eae91bedac0afaab0074cec5e535bc">w</a>() * b.<a class="code" href="classEigen_1_1QuaternionBase.html#aad37efca5d9fde3f4cb03a208f38d74f">y</a>() + a.<a class="code" href="classEigen_1_1QuaternionBase.html#aad37efca5d9fde3f4cb03a208f38d74f">y</a>() * b.<a class="code" href="classEigen_1_1QuaternionBase.html#ab5eae91bedac0afaab0074cec5e535bc">w</a>() + a.<a class="code" href="classEigen_1_1QuaternionBase.html#a8389b65a61aa3fc76d3ba4bd4a63e529">z</a>() * b.<a class="code" href="classEigen_1_1QuaternionBase.html#afdd8e260d5de861a6136cb9e6ceaa4b4">x</a>() - a.<a class="code" href="classEigen_1_1QuaternionBase.html#afdd8e260d5de861a6136cb9e6ceaa4b4">x</a>() * b.<a class="code" href="classEigen_1_1QuaternionBase.html#a8389b65a61aa3fc76d3ba4bd4a63e529">z</a>(),</div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;      a.<a class="code" href="classEigen_1_1QuaternionBase.html#ab5eae91bedac0afaab0074cec5e535bc">w</a>() * b.<a class="code" href="classEigen_1_1QuaternionBase.html#a8389b65a61aa3fc76d3ba4bd4a63e529">z</a>() + a.<a class="code" href="classEigen_1_1QuaternionBase.html#a8389b65a61aa3fc76d3ba4bd4a63e529">z</a>() * b.<a class="code" href="classEigen_1_1QuaternionBase.html#ab5eae91bedac0afaab0074cec5e535bc">w</a>() + a.<a class="code" href="classEigen_1_1QuaternionBase.html#afdd8e260d5de861a6136cb9e6ceaa4b4">x</a>() * b.<a class="code" href="classEigen_1_1QuaternionBase.html#aad37efca5d9fde3f4cb03a208f38d74f">y</a>() - a.<a class="code" href="classEigen_1_1QuaternionBase.html#aad37efca5d9fde3f4cb03a208f38d74f">y</a>() * b.<a class="code" href="classEigen_1_1QuaternionBase.html#afdd8e260d5de861a6136cb9e6ceaa4b4">x</a>()</div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;    );</div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;  }</div>
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<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;}</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160; </div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> Derived&gt;</div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> OtherDerived&gt;</div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Quaternion&lt;typename internal::traits&lt;Derived&gt;::Scalar&gt;</div>
<div class="line"><a name="l00502"></a><span class="lineno"><a class="line" href="classEigen_1_1QuaternionBase.html#afdf1dc395c1cff6716ec9b80fd15b414">  502</a></span>&#160;<a class="code" href="classEigen_1_1QuaternionBase.html">QuaternionBase&lt;Derived&gt;::operator* </a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1QuaternionBase.html">QuaternionBase&lt;OtherDerived&gt;</a>&amp; other)<span class="keyword"> const</span></div>
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<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;  EIGEN_STATIC_ASSERT((internal::is_same&lt;typename Derived::Scalar, typename OtherDerived::Scalar&gt;::value),</div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;   YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)</div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;  <span class="keywordflow">return</span> internal::quat_product&lt;Architecture::Target, Derived, OtherDerived,</div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;                         <span class="keyword">typename</span> internal::traits&lt;Derived&gt;::Scalar&gt;::run(*<span class="keyword">this</span>, other);</div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;}</div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160; </div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> Derived&gt;</div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> OtherDerived&gt;</div>
<div class="line"><a name="l00513"></a><span class="lineno"><a class="line" href="classEigen_1_1QuaternionBase.html#afd8ee6b6420fbdd22fab7cd016212441">  513</a></span>&#160;EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived&amp; <a class="code" href="classEigen_1_1QuaternionBase.html#afd8ee6b6420fbdd22fab7cd016212441">QuaternionBase&lt;Derived&gt;::operator*= </a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1QuaternionBase.html">QuaternionBase&lt;OtherDerived&gt;</a>&amp; other)</div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;{</div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;  derived() = derived() * other.derived();</div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;  <span class="keywordflow">return</span> derived();</div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;}</div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160; </div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> Derived&gt;</div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE <span class="keyword">typename</span> <a class="code" href="classEigen_1_1Matrix.html">QuaternionBase&lt;Derived&gt;::Vector3</a></div>
<div class="line"><a name="l00528"></a><span class="lineno"><a class="line" href="classEigen_1_1QuaternionBase.html#aabef1f6fc62535f6f85d590108915ee8">  528</a></span>&#160;<a class="code" href="classEigen_1_1QuaternionBase.html#aabef1f6fc62535f6f85d590108915ee8">QuaternionBase&lt;Derived&gt;::_transformVector</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Matrix.html">Vector3</a>&amp; v)<span class="keyword"> const</span></div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;    <span class="comment">// Note that this algorithm comes from the optimization by hand</span></div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;    <span class="comment">// of the conversion to a Matrix followed by a Matrix/Vector product.</span></div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;    <span class="comment">// It appears to be much faster than the common algorithm found</span></div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;    <span class="comment">// in the literature (30 versus 39 flops). It also requires two</span></div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;    <span class="comment">// Vector3 as temporaries.</span></div>
<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;    <a class="code" href="classEigen_1_1Matrix.html">Vector3</a> uv = this-&gt;vec().cross(v);</div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;    uv += uv;</div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;    <span class="keywordflow">return</span> v + this-&gt;w() * uv + this-&gt;vec().cross(uv);</div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;}</div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160; </div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">class</span> Derived&gt;</div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE <a class="code" href="classEigen_1_1QuaternionBase.html">QuaternionBase&lt;Derived&gt;</a>&amp; <a class="code" href="classEigen_1_1QuaternionBase.html">QuaternionBase&lt;Derived&gt;::operator=</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1QuaternionBase.html">QuaternionBase&lt;Derived&gt;</a>&amp; other)</div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;{</div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;  coeffs() = other.<a class="code" href="classEigen_1_1QuaternionBase.html#a193e79f616335a0067e3e784c7cf85fa">coeffs</a>();</div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;  <span class="keywordflow">return</span> derived();</div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;}</div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160; </div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">class</span> Derived&gt;</div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">class</span> OtherDerived&gt;</div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived&amp; QuaternionBase&lt;Derived&gt;::operator=(<span class="keyword">const</span> QuaternionBase&lt;OtherDerived&gt;&amp; other)</div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;{</div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;  coeffs() = other.coeffs();</div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;  <span class="keywordflow">return</span> derived();</div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;}</div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160; </div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">class</span> Derived&gt;</div>
<div class="line"><a name="l00558"></a><span class="lineno"><a class="line" href="classEigen_1_1QuaternionBase.html#aa7c114c6e62a37d4fc53b6e82ed78eac">  558</a></span>&#160;EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived&amp; <a class="code" href="classEigen_1_1QuaternionBase.html">QuaternionBase&lt;Derived&gt;::operator=</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1AngleAxis.html">AngleAxisType</a>&amp; aa)</div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;{</div>
<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;  EIGEN_USING_STD(<a class="code" href="namespaceEigen.html#ad01d50a42869218f1d54af13f71517a6">cos</a>)</div>
<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;  EIGEN_USING_STD(<a class="code" href="namespaceEigen.html#ae6e8ad270ff41c088d7651567594f796">sin</a>)</div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;  Scalar ha = Scalar(0.5)*aa.<a class="code" href="classEigen_1_1AngleAxis.html#ad933b9ba0c40224b7ded9a313396c736">angle</a>(); <span class="comment">// Scalar(0.5) to suppress precision loss warnings</span></div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;  this-&gt;w() = <a class="code" href="namespaceEigen.html#ad01d50a42869218f1d54af13f71517a6">cos</a>(ha);</div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;  this-&gt;vec() = <a class="code" href="namespaceEigen.html#ae6e8ad270ff41c088d7651567594f796">sin</a>(ha) * aa.<a class="code" href="classEigen_1_1AngleAxis.html#a07ba27c022c814f745f0cdc3d0a7b661">axis</a>();</div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;  <span class="keywordflow">return</span> derived();</div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;}</div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160; </div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">class</span> Derived&gt;</div>
<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">class</span> MatrixDerived&gt;</div>
<div class="line"><a name="l00576"></a><span class="lineno"><a class="line" href="classEigen_1_1QuaternionBase.html#a20a6702c9da3fc2950178d920d0aaf84">  576</a></span>&#160;EIGEN_DEVICE_FUNC <span class="keyword">inline</span> Derived&amp; <a class="code" href="classEigen_1_1QuaternionBase.html">QuaternionBase&lt;Derived&gt;::operator=</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1MatrixBase.html">MatrixBase&lt;MatrixDerived&gt;</a>&amp; xpr)</div>
<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;{</div>
<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;  EIGEN_STATIC_ASSERT((internal::is_same&lt;typename Derived::Scalar, typename MatrixDerived::Scalar&gt;::value),</div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;   YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)</div>
<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;  internal::quaternionbase_assign_impl&lt;MatrixDerived&gt;::run(*<span class="keyword">this</span>, xpr.<a class="code" href="classEigen_1_1DenseCoeffsBase_3_01Derived_00_01DirectWriteAccessors_01_4.html#a1fbabe7f12bcbfba3b9a448b1f5e46fa">derived</a>());</div>
<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;  <span class="keywordflow">return</span> derived();</div>
<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;}</div>
<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160; </div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">class</span> Derived&gt;</div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <span class="keyword">typename</span> <a class="code" href="classEigen_1_1Matrix.html">QuaternionBase&lt;Derived&gt;::Matrix3</a></div>
<div class="line"><a name="l00589"></a><span class="lineno"><a class="line" href="classEigen_1_1QuaternionBase.html#a8cf07ab9875baba2eecdd62ff93bfc3f">  589</a></span>&#160;<a class="code" href="classEigen_1_1QuaternionBase.html#a8cf07ab9875baba2eecdd62ff93bfc3f">QuaternionBase&lt;Derived&gt;::toRotationMatrix</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span></div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;  <span class="comment">// NOTE if inlined, then gcc 4.2 and 4.4 get rid of the temporary (not gcc 4.3 !!)</span></div>
<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160;  <span class="comment">// if not inlined then the cost of the return by value is huge ~ +35%,</span></div>
<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;  <span class="comment">// however, not inlining this function is an order of magnitude slower, so</span></div>
<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;  <span class="comment">// it has to be inlined, and so the return by value is not an issue</span></div>
<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;  <a class="code" href="classEigen_1_1Matrix.html">Matrix3</a> res;</div>
<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160; </div>
<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;  <span class="keyword">const</span> Scalar tx  = Scalar(2)*this-&gt;x();</div>
<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;  <span class="keyword">const</span> Scalar ty  = Scalar(2)*this-&gt;y();</div>
<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;  <span class="keyword">const</span> Scalar tz  = Scalar(2)*this-&gt;z();</div>
<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;  <span class="keyword">const</span> Scalar twx = tx*this-&gt;w();</div>
<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;  <span class="keyword">const</span> Scalar twy = ty*this-&gt;w();</div>
<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;  <span class="keyword">const</span> Scalar twz = tz*this-&gt;w();</div>
<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;  <span class="keyword">const</span> Scalar txx = tx*this-&gt;x();</div>
<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;  <span class="keyword">const</span> Scalar txy = ty*this-&gt;x();</div>
<div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160;  <span class="keyword">const</span> Scalar txz = tz*this-&gt;x();</div>
<div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160;  <span class="keyword">const</span> Scalar tyy = ty*this-&gt;y();</div>
<div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160;  <span class="keyword">const</span> Scalar tyz = tz*this-&gt;y();</div>
<div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160;  <span class="keyword">const</span> Scalar tzz = tz*this-&gt;z();</div>
<div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160; </div>
<div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;  res.<a class="code" href="classEigen_1_1PlainObjectBase.html#a992d58b5453e441dcfc80f21c2bfd1d7">coeffRef</a>(0,0) = Scalar(1)-(tyy+tzz);</div>
<div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160;  res.<a class="code" href="classEigen_1_1PlainObjectBase.html#a992d58b5453e441dcfc80f21c2bfd1d7">coeffRef</a>(0,1) = txy-twz;</div>
<div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160;  res.<a class="code" href="classEigen_1_1PlainObjectBase.html#a992d58b5453e441dcfc80f21c2bfd1d7">coeffRef</a>(0,2) = txz+twy;</div>
<div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;  res.<a class="code" href="classEigen_1_1PlainObjectBase.html#a992d58b5453e441dcfc80f21c2bfd1d7">coeffRef</a>(1,0) = txy+twz;</div>
<div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160;  res.<a class="code" href="classEigen_1_1PlainObjectBase.html#a992d58b5453e441dcfc80f21c2bfd1d7">coeffRef</a>(1,1) = Scalar(1)-(txx+tzz);</div>
<div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;  res.<a class="code" href="classEigen_1_1PlainObjectBase.html#a992d58b5453e441dcfc80f21c2bfd1d7">coeffRef</a>(1,2) = tyz-twx;</div>
<div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160;  res.<a class="code" href="classEigen_1_1PlainObjectBase.html#a992d58b5453e441dcfc80f21c2bfd1d7">coeffRef</a>(2,0) = txz-twy;</div>
<div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160;  res.<a class="code" href="classEigen_1_1PlainObjectBase.html#a992d58b5453e441dcfc80f21c2bfd1d7">coeffRef</a>(2,1) = tyz+twx;</div>
<div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160;  res.<a class="code" href="classEigen_1_1PlainObjectBase.html#a992d58b5453e441dcfc80f21c2bfd1d7">coeffRef</a>(2,2) = Scalar(1)-(txx+tyy);</div>
<div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160; </div>
<div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160;  <span class="keywordflow">return</span> res;</div>
<div class="line"><a name="l00621"></a><span class="lineno">  621</span>&#160;}</div>
<div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160; </div>
<div class="line"><a name="l00633"></a><span class="lineno">  633</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">class</span> Derived&gt;</div>
<div class="line"><a name="l00634"></a><span class="lineno">  634</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Derived1, <span class="keyword">typename</span> Derived2&gt;</div>
<div class="line"><a name="l00635"></a><span class="lineno"><a class="line" href="classEigen_1_1QuaternionBase.html#a7ae84bfbcc9f3f19f10294496a836bee">  635</a></span>&#160;EIGEN_DEVICE_FUNC <span class="keyword">inline</span> Derived&amp; <a class="code" href="classEigen_1_1QuaternionBase.html#a7ae84bfbcc9f3f19f10294496a836bee">QuaternionBase&lt;Derived&gt;::setFromTwoVectors</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1MatrixBase.html">MatrixBase&lt;Derived1&gt;</a>&amp; a, <span class="keyword">const</span> <a class="code" href="classEigen_1_1MatrixBase.html">MatrixBase&lt;Derived2&gt;</a>&amp; b)</div>
<div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160;{</div>
<div class="line"><a name="l00637"></a><span class="lineno">  637</span>&#160;  EIGEN_USING_STD(<a class="code" href="namespaceEigen.html#af4f536e8ea56702e63088efb3706d1f0">sqrt</a>)</div>
<div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160;  <a class="code" href="classEigen_1_1Matrix.html">Vector3</a> v0 = a.<a class="code" href="classEigen_1_1MatrixBase.html#a5cf2fd4c57e59604fd4116158fd34308">normalized</a>();</div>
<div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160;  <a class="code" href="classEigen_1_1Matrix.html">Vector3</a> v1 = b.<a class="code" href="classEigen_1_1MatrixBase.html#a5cf2fd4c57e59604fd4116158fd34308">normalized</a>();</div>
<div class="line"><a name="l00640"></a><span class="lineno">  640</span>&#160;  Scalar c = v1.dot(v0);</div>
<div class="line"><a name="l00641"></a><span class="lineno">  641</span>&#160; </div>
<div class="line"><a name="l00642"></a><span class="lineno">  642</span>&#160;  <span class="comment">// if dot == -1, vectors are nearly opposites</span></div>
<div class="line"><a name="l00643"></a><span class="lineno">  643</span>&#160;  <span class="comment">// =&gt; accurately compute the rotation axis by computing the</span></div>
<div class="line"><a name="l00644"></a><span class="lineno">  644</span>&#160;  <span class="comment">//    intersection of the two planes. This is done by solving:</span></div>
<div class="line"><a name="l00645"></a><span class="lineno">  645</span>&#160;  <span class="comment">//       x^T v0 = 0</span></div>
<div class="line"><a name="l00646"></a><span class="lineno">  646</span>&#160;  <span class="comment">//       x^T v1 = 0</span></div>
<div class="line"><a name="l00647"></a><span class="lineno">  647</span>&#160;  <span class="comment">//    under the constraint:</span></div>
<div class="line"><a name="l00648"></a><span class="lineno">  648</span>&#160;  <span class="comment">//       ||x|| = 1</span></div>
<div class="line"><a name="l00649"></a><span class="lineno">  649</span>&#160;  <span class="comment">//    which yields a singular value problem</span></div>
<div class="line"><a name="l00650"></a><span class="lineno">  650</span>&#160;  <span class="keywordflow">if</span> (c &lt; Scalar(-1)+<a class="code" href="structEigen_1_1NumTraits.html">NumTraits&lt;Scalar&gt;::dummy_precision</a>())</div>
<div class="line"><a name="l00651"></a><span class="lineno">  651</span>&#160;  {</div>
<div class="line"><a name="l00652"></a><span class="lineno">  652</span>&#160;    c = numext::maxi(c,Scalar(-1));</div>
<div class="line"><a name="l00653"></a><span class="lineno">  653</span>&#160;    <a class="code" href="classEigen_1_1Matrix.html">Matrix&lt;Scalar,2,3&gt;</a> m; m &lt;&lt; v0.transpose(), v1.transpose();</div>
<div class="line"><a name="l00654"></a><span class="lineno">  654</span>&#160;    <a class="code" href="classEigen_1_1JacobiSVD.html">JacobiSVD&lt;Matrix&lt;Scalar,2,3&gt;</a>, <a class="code" href="group__enums.html#ggae3e239fb70022eb8747994cf5d68b4a9a36581f7c662f7def31efd500c284f930">ComputeFullV</a>&gt; svd(m);</div>
<div class="line"><a name="l00655"></a><span class="lineno">  655</span>&#160;    <a class="code" href="classEigen_1_1Matrix.html">Vector3</a> axis = svd.<a class="code" href="classEigen_1_1SVDBase.html#a245a453b5e7347f737295c23133238c4">matrixV</a>().col(2);</div>
<div class="line"><a name="l00656"></a><span class="lineno">  656</span>&#160; </div>
<div class="line"><a name="l00657"></a><span class="lineno">  657</span>&#160;    Scalar w2 = (Scalar(1)+c)*Scalar(0.5);</div>
<div class="line"><a name="l00658"></a><span class="lineno">  658</span>&#160;    this-&gt;w() = <a class="code" href="namespaceEigen.html#af4f536e8ea56702e63088efb3706d1f0">sqrt</a>(w2);</div>
<div class="line"><a name="l00659"></a><span class="lineno">  659</span>&#160;    this-&gt;vec() = axis * <a class="code" href="namespaceEigen.html#af4f536e8ea56702e63088efb3706d1f0">sqrt</a>(Scalar(1) - w2);</div>
<div class="line"><a name="l00660"></a><span class="lineno">  660</span>&#160;    <span class="keywordflow">return</span> derived();</div>
<div class="line"><a name="l00661"></a><span class="lineno">  661</span>&#160;  }</div>
<div class="line"><a name="l00662"></a><span class="lineno">  662</span>&#160;  <a class="code" href="classEigen_1_1Matrix.html">Vector3</a> axis = v0.cross(v1);</div>
<div class="line"><a name="l00663"></a><span class="lineno">  663</span>&#160;  Scalar s = <a class="code" href="namespaceEigen.html#af4f536e8ea56702e63088efb3706d1f0">sqrt</a>((Scalar(1)+c)*Scalar(2));</div>
<div class="line"><a name="l00664"></a><span class="lineno">  664</span>&#160;  Scalar invs = Scalar(1)/s;</div>
<div class="line"><a name="l00665"></a><span class="lineno">  665</span>&#160;  this-&gt;vec() = axis * invs;</div>
<div class="line"><a name="l00666"></a><span class="lineno">  666</span>&#160;  this-&gt;w() = s * Scalar(0.5);</div>
<div class="line"><a name="l00667"></a><span class="lineno">  667</span>&#160; </div>
<div class="line"><a name="l00668"></a><span class="lineno">  668</span>&#160;  <span class="keywordflow">return</span> derived();</div>
<div class="line"><a name="l00669"></a><span class="lineno">  669</span>&#160;}</div>
<div class="line"><a name="l00670"></a><span class="lineno">  670</span>&#160; </div>
<div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Options&gt;</div>
<div class="line"><a name="l00676"></a><span class="lineno"><a class="line" href="classEigen_1_1Quaternion.html#a7da87cda5567ff1e860782d638643868">  676</a></span>&#160;EIGEN_DEVICE_FUNC <a class="code" href="classEigen_1_1Quaternion.html">Quaternion&lt;Scalar,Options&gt;</a> <a class="code" href="classEigen_1_1Quaternion.html#a7da87cda5567ff1e860782d638643868">Quaternion&lt;Scalar,Options&gt;::UnitRandom</a>()</div>
<div class="line"><a name="l00677"></a><span class="lineno">  677</span>&#160;{</div>
<div class="line"><a name="l00678"></a><span class="lineno">  678</span>&#160;  EIGEN_USING_STD(<a class="code" href="namespaceEigen.html#af4f536e8ea56702e63088efb3706d1f0">sqrt</a>)</div>
<div class="line"><a name="l00679"></a><span class="lineno">  679</span>&#160;  EIGEN_USING_STD(<a class="code" href="namespaceEigen.html#ae6e8ad270ff41c088d7651567594f796">sin</a>)</div>
<div class="line"><a name="l00680"></a><span class="lineno">  680</span>&#160;  EIGEN_USING_STD(<a class="code" href="namespaceEigen.html#ad01d50a42869218f1d54af13f71517a6">cos</a>)</div>
<div class="line"><a name="l00681"></a><span class="lineno">  681</span>&#160;  <span class="keyword">const</span> Scalar u1 = internal::random&lt;Scalar&gt;(0, 1),</div>
<div class="line"><a name="l00682"></a><span class="lineno">  682</span>&#160;               u2 = internal::random&lt;Scalar&gt;(0, 2*EIGEN_PI),</div>
<div class="line"><a name="l00683"></a><span class="lineno">  683</span>&#160;               u3 = internal::random&lt;Scalar&gt;(0, 2*EIGEN_PI);</div>
<div class="line"><a name="l00684"></a><span class="lineno">  684</span>&#160;  <span class="keyword">const</span> Scalar a = <a class="code" href="namespaceEigen.html#af4f536e8ea56702e63088efb3706d1f0">sqrt</a>(Scalar(1) - u1),</div>
<div class="line"><a name="l00685"></a><span class="lineno">  685</span>&#160;               b = <a class="code" href="namespaceEigen.html#af4f536e8ea56702e63088efb3706d1f0">sqrt</a>(u1);</div>
<div class="line"><a name="l00686"></a><span class="lineno">  686</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1Quaternion.html">Quaternion</a> (a * <a class="code" href="namespaceEigen.html#ae6e8ad270ff41c088d7651567594f796">sin</a>(u2), a * <a class="code" href="namespaceEigen.html#ad01d50a42869218f1d54af13f71517a6">cos</a>(u2), b * <a class="code" href="namespaceEigen.html#ae6e8ad270ff41c088d7651567594f796">sin</a>(u3), b * <a class="code" href="namespaceEigen.html#ad01d50a42869218f1d54af13f71517a6">cos</a>(u3));</div>
<div class="line"><a name="l00687"></a><span class="lineno">  687</span>&#160;}</div>
<div class="line"><a name="l00688"></a><span class="lineno">  688</span>&#160; </div>
<div class="line"><a name="l00689"></a><span class="lineno">  689</span>&#160; </div>
<div class="line"><a name="l00700"></a><span class="lineno">  700</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Options&gt;</div>
<div class="line"><a name="l00701"></a><span class="lineno">  701</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Derived1, <span class="keyword">typename</span> Derived2&gt;</div>
<div class="line"><a name="l00702"></a><span class="lineno"><a class="line" href="classEigen_1_1Quaternion.html#abb9219bba515452a8ab3f9c38dd45b91">  702</a></span>&#160;EIGEN_DEVICE_FUNC <a class="code" href="classEigen_1_1Quaternion.html">Quaternion&lt;Scalar,Options&gt;</a> <a class="code" href="classEigen_1_1Quaternion.html">Quaternion&lt;Scalar,Options&gt;::FromTwoVectors</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1MatrixBase.html">MatrixBase&lt;Derived1&gt;</a>&amp; a, <span class="keyword">const</span> <a class="code" href="classEigen_1_1MatrixBase.html">MatrixBase&lt;Derived2&gt;</a>&amp; b)</div>
<div class="line"><a name="l00703"></a><span class="lineno">  703</span>&#160;{</div>
<div class="line"><a name="l00704"></a><span class="lineno">  704</span>&#160;    <a class="code" href="classEigen_1_1Quaternion.html">Quaternion</a> quat;</div>
<div class="line"><a name="l00705"></a><span class="lineno">  705</span>&#160;    quat.<a class="code" href="classEigen_1_1QuaternionBase.html#a7ae84bfbcc9f3f19f10294496a836bee">setFromTwoVectors</a>(a, b);</div>
<div class="line"><a name="l00706"></a><span class="lineno">  706</span>&#160;    <span class="keywordflow">return</span> quat;</div>
<div class="line"><a name="l00707"></a><span class="lineno">  707</span>&#160;}</div>
<div class="line"><a name="l00708"></a><span class="lineno">  708</span>&#160; </div>
<div class="line"><a name="l00709"></a><span class="lineno">  709</span>&#160; </div>
<div class="line"><a name="l00716"></a><span class="lineno">  716</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> Derived&gt;</div>
<div class="line"><a name="l00717"></a><span class="lineno"><a class="line" href="classEigen_1_1QuaternionBase.html#ab12ee41b3b06adc3062217a795a6a9f5">  717</a></span>&#160;EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Quaternion.html">Quaternion&lt;typename internal::traits&lt;Derived&gt;::Scalar</a>&gt; <a class="code" href="classEigen_1_1QuaternionBase.html#ab12ee41b3b06adc3062217a795a6a9f5">QuaternionBase&lt;Derived&gt;::inverse</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00718"></a><span class="lineno">  718</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00719"></a><span class="lineno">  719</span>&#160;  <span class="comment">// FIXME should this function be called multiplicativeInverse and conjugate() be called inverse() or opposite()  ??</span></div>
<div class="line"><a name="l00720"></a><span class="lineno">  720</span>&#160;  Scalar n2 = this-&gt;squaredNorm();</div>
<div class="line"><a name="l00721"></a><span class="lineno">  721</span>&#160;  <span class="keywordflow">if</span> (n2 &gt; Scalar(0))</div>
<div class="line"><a name="l00722"></a><span class="lineno">  722</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1Quaternion.html">Quaternion&lt;Scalar&gt;</a>(conjugate().coeffs() / n2);</div>
<div class="line"><a name="l00723"></a><span class="lineno">  723</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00724"></a><span class="lineno">  724</span>&#160;  {</div>
<div class="line"><a name="l00725"></a><span class="lineno">  725</span>&#160;    <span class="comment">// return an invalid result to flag the error</span></div>
<div class="line"><a name="l00726"></a><span class="lineno">  726</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1Quaternion.html">Quaternion&lt;Scalar&gt;</a>(Coefficients::Zero());</div>
<div class="line"><a name="l00727"></a><span class="lineno">  727</span>&#160;  }</div>
<div class="line"><a name="l00728"></a><span class="lineno">  728</span>&#160;}</div>
<div class="line"><a name="l00729"></a><span class="lineno">  729</span>&#160; </div>
<div class="line"><a name="l00730"></a><span class="lineno">  730</span>&#160;<span class="comment">// Generic conjugate of a Quaternion</span></div>
<div class="line"><a name="l00731"></a><span class="lineno">  731</span>&#160;<span class="keyword">namespace </span>internal {</div>
<div class="line"><a name="l00732"></a><span class="lineno">  732</span>&#160;<span class="keyword">template</span>&lt;<span class="keywordtype">int</span> Arch, <span class="keyword">class</span> Derived, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">struct </span>quat_conj</div>
<div class="line"><a name="l00733"></a><span class="lineno">  733</span>&#160;{</div>
<div class="line"><a name="l00734"></a><span class="lineno">  734</span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">static</span> EIGEN_STRONG_INLINE <a class="code" href="classEigen_1_1Quaternion.html">Quaternion&lt;Scalar&gt;</a> run(<span class="keyword">const</span> <a class="code" href="classEigen_1_1QuaternionBase.html">QuaternionBase&lt;Derived&gt;</a>&amp; q){</div>
<div class="line"><a name="l00735"></a><span class="lineno">  735</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1Quaternion.html">Quaternion&lt;Scalar&gt;</a>(q.<a class="code" href="classEigen_1_1QuaternionBase.html#ab5eae91bedac0afaab0074cec5e535bc">w</a>(),-q.<a class="code" href="classEigen_1_1QuaternionBase.html#afdd8e260d5de861a6136cb9e6ceaa4b4">x</a>(),-q.<a class="code" href="classEigen_1_1QuaternionBase.html#aad37efca5d9fde3f4cb03a208f38d74f">y</a>(),-q.<a class="code" href="classEigen_1_1QuaternionBase.html#a8389b65a61aa3fc76d3ba4bd4a63e529">z</a>());</div>
<div class="line"><a name="l00736"></a><span class="lineno">  736</span>&#160;  }</div>
<div class="line"><a name="l00737"></a><span class="lineno">  737</span>&#160;};</div>
<div class="line"><a name="l00738"></a><span class="lineno">  738</span>&#160;}</div>
<div class="line"><a name="l00739"></a><span class="lineno">  739</span>&#160;                         </div>
<div class="line"><a name="l00746"></a><span class="lineno">  746</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> Derived&gt;</div>
<div class="line"><a name="l00747"></a><span class="lineno">  747</span>&#160;EIGEN_DEVICE_FUNC <span class="keyword">inline</span> Quaternion&lt;typename internal::traits&lt;Derived&gt;::Scalar&gt;</div>
<div class="line"><a name="l00748"></a><span class="lineno"><a class="line" href="classEigen_1_1QuaternionBase.html#a5e63b775d0a93161ce6137ec0a17f6b0">  748</a></span>&#160;<a class="code" href="classEigen_1_1QuaternionBase.html#a5e63b775d0a93161ce6137ec0a17f6b0">QuaternionBase&lt;Derived&gt;::conjugate</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00749"></a><span class="lineno">  749</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00750"></a><span class="lineno">  750</span>&#160;  <span class="keywordflow">return</span> internal::quat_conj&lt;Architecture::Target, Derived,</div>
<div class="line"><a name="l00751"></a><span class="lineno">  751</span>&#160;                         <span class="keyword">typename</span> internal::traits&lt;Derived&gt;::Scalar&gt;::run(*<span class="keyword">this</span>);</div>
<div class="line"><a name="l00752"></a><span class="lineno">  752</span>&#160;                         </div>
<div class="line"><a name="l00753"></a><span class="lineno">  753</span>&#160;}</div>
<div class="line"><a name="l00754"></a><span class="lineno">  754</span>&#160; </div>
<div class="line"><a name="l00758"></a><span class="lineno">  758</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> Derived&gt;</div>
<div class="line"><a name="l00759"></a><span class="lineno">  759</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> OtherDerived&gt;</div>
<div class="line"><a name="l00760"></a><span class="lineno">  760</span>&#160;EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <span class="keyword">typename</span> internal::traits&lt;Derived&gt;::Scalar</div>
<div class="line"><a name="l00761"></a><span class="lineno"><a class="line" href="classEigen_1_1QuaternionBase.html#a74f13d7c853484996494c26c633ae02a">  761</a></span>&#160;<a class="code" href="classEigen_1_1QuaternionBase.html">QuaternionBase&lt;Derived&gt;::angularDistance</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1QuaternionBase.html">QuaternionBase&lt;OtherDerived&gt;</a>&amp; other)<span class="keyword"> const</span></div>
<div class="line"><a name="l00762"></a><span class="lineno">  762</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00763"></a><span class="lineno">  763</span>&#160;  EIGEN_USING_STD(atan2)</div>
<div class="line"><a name="l00764"></a><span class="lineno">  764</span>&#160;  <a class="code" href="classEigen_1_1Quaternion.html">Quaternion&lt;Scalar&gt;</a> d = (*this) * other.<a class="code" href="classEigen_1_1QuaternionBase.html#a5e63b775d0a93161ce6137ec0a17f6b0">conjugate</a>();</div>
<div class="line"><a name="l00765"></a><span class="lineno">  765</span>&#160;  <span class="keywordflow">return</span> Scalar(2) * atan2( d.<a class="code" href="classEigen_1_1QuaternionBase.html#ada8bdb403471df23511bdc0f227962ea">vec</a>().norm(), numext::abs(d.<a class="code" href="classEigen_1_1QuaternionBase.html#ab5eae91bedac0afaab0074cec5e535bc">w</a>()) );</div>
<div class="line"><a name="l00766"></a><span class="lineno">  766</span>&#160;}</div>
<div class="line"><a name="l00767"></a><span class="lineno">  767</span>&#160; </div>
<div class="line"><a name="l00768"></a><span class="lineno">  768</span>&#160; </div>
<div class="line"><a name="l00769"></a><span class="lineno">  769</span>&#160;    </div>
<div class="line"><a name="l00776"></a><span class="lineno">  776</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> Derived&gt;</div>
<div class="line"><a name="l00777"></a><span class="lineno">  777</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> OtherDerived&gt;</div>
<div class="line"><a name="l00778"></a><span class="lineno">  778</span>&#160;EIGEN_DEVICE_FUNC <a class="code" href="classEigen_1_1Quaternion.html">Quaternion&lt;typename internal::traits&lt;Derived&gt;::Scalar</a>&gt;</div>
<div class="line"><a name="l00779"></a><span class="lineno"><a class="line" href="classEigen_1_1QuaternionBase.html#ac840bde67d22f2deca330561c65d144e">  779</a></span>&#160;<a class="code" href="classEigen_1_1QuaternionBase.html">QuaternionBase&lt;Derived&gt;::slerp</a>(<span class="keyword">const</span> Scalar&amp; t, <span class="keyword">const</span> <a class="code" href="classEigen_1_1QuaternionBase.html">QuaternionBase&lt;OtherDerived&gt;</a>&amp; other)<span class="keyword"> const</span></div>
<div class="line"><a name="l00780"></a><span class="lineno">  780</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00781"></a><span class="lineno">  781</span>&#160;  EIGEN_USING_STD(<a class="code" href="namespaceEigen.html#a3fe3a136370fefae062591304c6a7ebd">acos</a>)</div>
<div class="line"><a name="l00782"></a><span class="lineno">  782</span>&#160;  EIGEN_USING_STD(<a class="code" href="namespaceEigen.html#ae6e8ad270ff41c088d7651567594f796">sin</a>)</div>
<div class="line"><a name="l00783"></a><span class="lineno">  783</span>&#160;  <span class="keyword">const</span> Scalar one = Scalar(1) - <a class="code" href="structEigen_1_1NumTraits.html">NumTraits&lt;Scalar&gt;::epsilon</a>();</div>
<div class="line"><a name="l00784"></a><span class="lineno">  784</span>&#160;  Scalar d = this-&gt;dot(other);</div>
<div class="line"><a name="l00785"></a><span class="lineno">  785</span>&#160;  Scalar absD = numext::abs(d);</div>
<div class="line"><a name="l00786"></a><span class="lineno">  786</span>&#160; </div>
<div class="line"><a name="l00787"></a><span class="lineno">  787</span>&#160;  Scalar scale0;</div>
<div class="line"><a name="l00788"></a><span class="lineno">  788</span>&#160;  Scalar scale1;</div>
<div class="line"><a name="l00789"></a><span class="lineno">  789</span>&#160; </div>
<div class="line"><a name="l00790"></a><span class="lineno">  790</span>&#160;  <span class="keywordflow">if</span>(absD&gt;=one)</div>
<div class="line"><a name="l00791"></a><span class="lineno">  791</span>&#160;  {</div>
<div class="line"><a name="l00792"></a><span class="lineno">  792</span>&#160;    scale0 = Scalar(1) - t;</div>
<div class="line"><a name="l00793"></a><span class="lineno">  793</span>&#160;    scale1 = t;</div>
<div class="line"><a name="l00794"></a><span class="lineno">  794</span>&#160;  }</div>
<div class="line"><a name="l00795"></a><span class="lineno">  795</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00796"></a><span class="lineno">  796</span>&#160;  {</div>
<div class="line"><a name="l00797"></a><span class="lineno">  797</span>&#160;    <span class="comment">// theta is the angle between the 2 quaternions</span></div>
<div class="line"><a name="l00798"></a><span class="lineno">  798</span>&#160;    Scalar theta = <a class="code" href="namespaceEigen.html#a3fe3a136370fefae062591304c6a7ebd">acos</a>(absD);</div>
<div class="line"><a name="l00799"></a><span class="lineno">  799</span>&#160;    Scalar sinTheta = <a class="code" href="namespaceEigen.html#ae6e8ad270ff41c088d7651567594f796">sin</a>(theta);</div>
<div class="line"><a name="l00800"></a><span class="lineno">  800</span>&#160; </div>
<div class="line"><a name="l00801"></a><span class="lineno">  801</span>&#160;    scale0 = <a class="code" href="namespaceEigen.html#ae6e8ad270ff41c088d7651567594f796">sin</a>( ( Scalar(1) - t ) * theta) / sinTheta;</div>
<div class="line"><a name="l00802"></a><span class="lineno">  802</span>&#160;    scale1 = <a class="code" href="namespaceEigen.html#ae6e8ad270ff41c088d7651567594f796">sin</a>( ( t * theta) ) / sinTheta;</div>
<div class="line"><a name="l00803"></a><span class="lineno">  803</span>&#160;  }</div>
<div class="line"><a name="l00804"></a><span class="lineno">  804</span>&#160;  <span class="keywordflow">if</span>(d&lt;Scalar(0)) scale1 = -scale1;</div>
<div class="line"><a name="l00805"></a><span class="lineno">  805</span>&#160; </div>
<div class="line"><a name="l00806"></a><span class="lineno">  806</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1Quaternion.html">Quaternion&lt;Scalar&gt;</a>(scale0 * coeffs() + scale1 * other.<a class="code" href="classEigen_1_1QuaternionBase.html#a193e79f616335a0067e3e784c7cf85fa">coeffs</a>());</div>
<div class="line"><a name="l00807"></a><span class="lineno">  807</span>&#160;}</div>
<div class="line"><a name="l00808"></a><span class="lineno">  808</span>&#160; </div>
<div class="line"><a name="l00809"></a><span class="lineno">  809</span>&#160;<span class="keyword">namespace </span>internal {</div>
<div class="line"><a name="l00810"></a><span class="lineno">  810</span>&#160; </div>
<div class="line"><a name="l00811"></a><span class="lineno">  811</span>&#160;<span class="comment">// set from a rotation matrix</span></div>
<div class="line"><a name="l00812"></a><span class="lineno">  812</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Other&gt;</div>
<div class="line"><a name="l00813"></a><span class="lineno">  813</span>&#160;<span class="keyword">struct </span>quaternionbase_assign_impl&lt;Other,3,3&gt;</div>
<div class="line"><a name="l00814"></a><span class="lineno">  814</span>&#160;{</div>
<div class="line"><a name="l00815"></a><span class="lineno">  815</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> Other::Scalar Scalar;</div>
<div class="line"><a name="l00816"></a><span class="lineno">  816</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">class</span> Derived&gt; EIGEN_DEVICE_FUNC <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> run(<a class="code" href="classEigen_1_1QuaternionBase.html">QuaternionBase&lt;Derived&gt;</a>&amp; q, <span class="keyword">const</span> Other&amp; a_mat)</div>
<div class="line"><a name="l00817"></a><span class="lineno">  817</span>&#160;  {</div>
<div class="line"><a name="l00818"></a><span class="lineno">  818</span>&#160;    <span class="keyword">const</span> <span class="keyword">typename</span> internal::nested_eval&lt;Other,2&gt;::type mat(a_mat);</div>
<div class="line"><a name="l00819"></a><span class="lineno">  819</span>&#160;    EIGEN_USING_STD(<a class="code" href="namespaceEigen.html#af4f536e8ea56702e63088efb3706d1f0">sqrt</a>)</div>
<div class="line"><a name="l00820"></a><span class="lineno">  820</span>&#160;    <span class="comment">// This algorithm comes from  &quot;Quaternion Calculus and Fast Animation&quot;,</span></div>
<div class="line"><a name="l00821"></a><span class="lineno">  821</span>&#160;    <span class="comment">// Ken Shoemake, 1987 SIGGRAPH course notes</span></div>
<div class="line"><a name="l00822"></a><span class="lineno">  822</span>&#160;    Scalar t = mat.trace();</div>
<div class="line"><a name="l00823"></a><span class="lineno">  823</span>&#160;    <span class="keywordflow">if</span> (t &gt; Scalar(0))</div>
<div class="line"><a name="l00824"></a><span class="lineno">  824</span>&#160;    {</div>
<div class="line"><a name="l00825"></a><span class="lineno">  825</span>&#160;      t = <a class="code" href="namespaceEigen.html#af4f536e8ea56702e63088efb3706d1f0">sqrt</a>(t + Scalar(1.0));</div>
<div class="line"><a name="l00826"></a><span class="lineno">  826</span>&#160;      q.<a class="code" href="classEigen_1_1QuaternionBase.html#ab5eae91bedac0afaab0074cec5e535bc">w</a>() = Scalar(0.5)*t;</div>
<div class="line"><a name="l00827"></a><span class="lineno">  827</span>&#160;      t = Scalar(0.5)/t;</div>
<div class="line"><a name="l00828"></a><span class="lineno">  828</span>&#160;      q.<a class="code" href="classEigen_1_1QuaternionBase.html#afdd8e260d5de861a6136cb9e6ceaa4b4">x</a>() = (mat.coeff(2,1) - mat.coeff(1,2)) * t;</div>
<div class="line"><a name="l00829"></a><span class="lineno">  829</span>&#160;      q.<a class="code" href="classEigen_1_1QuaternionBase.html#aad37efca5d9fde3f4cb03a208f38d74f">y</a>() = (mat.coeff(0,2) - mat.coeff(2,0)) * t;</div>
<div class="line"><a name="l00830"></a><span class="lineno">  830</span>&#160;      q.<a class="code" href="classEigen_1_1QuaternionBase.html#a8389b65a61aa3fc76d3ba4bd4a63e529">z</a>() = (mat.coeff(1,0) - mat.coeff(0,1)) * t;</div>
<div class="line"><a name="l00831"></a><span class="lineno">  831</span>&#160;    }</div>
<div class="line"><a name="l00832"></a><span class="lineno">  832</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00833"></a><span class="lineno">  833</span>&#160;    {</div>
<div class="line"><a name="l00834"></a><span class="lineno">  834</span>&#160;      <a class="code" href="namespaceEigen.html#a62e77e0933482dafde8fe197d9a2cfde">Index</a> i = 0;</div>
<div class="line"><a name="l00835"></a><span class="lineno">  835</span>&#160;      <span class="keywordflow">if</span> (mat.coeff(1,1) &gt; mat.coeff(0,0))</div>
<div class="line"><a name="l00836"></a><span class="lineno">  836</span>&#160;        i = 1;</div>
<div class="line"><a name="l00837"></a><span class="lineno">  837</span>&#160;      <span class="keywordflow">if</span> (mat.coeff(2,2) &gt; mat.coeff(i,i))</div>
<div class="line"><a name="l00838"></a><span class="lineno">  838</span>&#160;        i = 2;</div>
<div class="line"><a name="l00839"></a><span class="lineno">  839</span>&#160;      <a class="code" href="namespaceEigen.html#a62e77e0933482dafde8fe197d9a2cfde">Index</a> j = (i+1)%3;</div>
<div class="line"><a name="l00840"></a><span class="lineno">  840</span>&#160;      <a class="code" href="namespaceEigen.html#a62e77e0933482dafde8fe197d9a2cfde">Index</a> k = (j+1)%3;</div>
<div class="line"><a name="l00841"></a><span class="lineno">  841</span>&#160; </div>
<div class="line"><a name="l00842"></a><span class="lineno">  842</span>&#160;      t = <a class="code" href="namespaceEigen.html#af4f536e8ea56702e63088efb3706d1f0">sqrt</a>(mat.coeff(i,i)-mat.coeff(j,j)-mat.coeff(k,k) + Scalar(1.0));</div>
<div class="line"><a name="l00843"></a><span class="lineno">  843</span>&#160;      q.<a class="code" href="classEigen_1_1QuaternionBase.html#a193e79f616335a0067e3e784c7cf85fa">coeffs</a>().coeffRef(i) = Scalar(0.5) * t;</div>
<div class="line"><a name="l00844"></a><span class="lineno">  844</span>&#160;      t = Scalar(0.5)/t;</div>
<div class="line"><a name="l00845"></a><span class="lineno">  845</span>&#160;      q.<a class="code" href="classEigen_1_1QuaternionBase.html#ab5eae91bedac0afaab0074cec5e535bc">w</a>() = (mat.coeff(k,j)-mat.coeff(j,k))*t;</div>
<div class="line"><a name="l00846"></a><span class="lineno">  846</span>&#160;      q.<a class="code" href="classEigen_1_1QuaternionBase.html#a193e79f616335a0067e3e784c7cf85fa">coeffs</a>().coeffRef(j) = (mat.coeff(j,i)+mat.coeff(i,j))*t;</div>
<div class="line"><a name="l00847"></a><span class="lineno">  847</span>&#160;      q.<a class="code" href="classEigen_1_1QuaternionBase.html#a193e79f616335a0067e3e784c7cf85fa">coeffs</a>().coeffRef(k) = (mat.coeff(k,i)+mat.coeff(i,k))*t;</div>
<div class="line"><a name="l00848"></a><span class="lineno">  848</span>&#160;    }</div>
<div class="line"><a name="l00849"></a><span class="lineno">  849</span>&#160;  }</div>
<div class="line"><a name="l00850"></a><span class="lineno">  850</span>&#160;};</div>
<div class="line"><a name="l00851"></a><span class="lineno">  851</span>&#160; </div>
<div class="line"><a name="l00852"></a><span class="lineno">  852</span>&#160;<span class="comment">// set from a vector of coefficients assumed to be a quaternion</span></div>
<div class="line"><a name="l00853"></a><span class="lineno">  853</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Other&gt;</div>
<div class="line"><a name="l00854"></a><span class="lineno">  854</span>&#160;<span class="keyword">struct </span>quaternionbase_assign_impl&lt;Other,4,1&gt;</div>
<div class="line"><a name="l00855"></a><span class="lineno">  855</span>&#160;{</div>
<div class="line"><a name="l00856"></a><span class="lineno">  856</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> Other::Scalar Scalar;</div>
<div class="line"><a name="l00857"></a><span class="lineno">  857</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">class</span> Derived&gt; EIGEN_DEVICE_FUNC <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> run(QuaternionBase&lt;Derived&gt;&amp; q, <span class="keyword">const</span> Other&amp; vec)</div>
<div class="line"><a name="l00858"></a><span class="lineno">  858</span>&#160;  {</div>
<div class="line"><a name="l00859"></a><span class="lineno">  859</span>&#160;    q.coeffs() = vec;</div>
<div class="line"><a name="l00860"></a><span class="lineno">  860</span>&#160;  }</div>
<div class="line"><a name="l00861"></a><span class="lineno">  861</span>&#160;};</div>
<div class="line"><a name="l00862"></a><span class="lineno">  862</span>&#160; </div>
<div class="line"><a name="l00863"></a><span class="lineno">  863</span>&#160;} <span class="comment">// end namespace internal</span></div>
<div class="line"><a name="l00864"></a><span class="lineno">  864</span>&#160; </div>
<div class="line"><a name="l00865"></a><span class="lineno">  865</span>&#160;} <span class="comment">// end namespace Eigen</span></div>
<div class="line"><a name="l00866"></a><span class="lineno">  866</span>&#160; </div>
<div class="line"><a name="l00867"></a><span class="lineno">  867</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// EIGEN_QUATERNION_H</span></div>
<div class="ttc" id="aclassEigen_1_1AngleAxis_html"><div class="ttname"><a href="classEigen_1_1AngleAxis.html">Eigen::AngleAxis</a></div><div class="ttdoc">Represents a 3D rotation as a rotation angle around an arbitrary 3D axis.</div><div class="ttdef"><b>Definition:</b> AngleAxis.h:52</div></div>
<div class="ttc" id="aclassEigen_1_1AngleAxis_html_a07ba27c022c814f745f0cdc3d0a7b661"><div class="ttname"><a href="classEigen_1_1AngleAxis.html#a07ba27c022c814f745f0cdc3d0a7b661">Eigen::AngleAxis::axis</a></div><div class="ttdeci">const Vector3 &amp; axis() const</div><div class="ttdef"><b>Definition:</b> AngleAxis.h:98</div></div>
<div class="ttc" id="aclassEigen_1_1AngleAxis_html_ad933b9ba0c40224b7ded9a313396c736"><div class="ttname"><a href="classEigen_1_1AngleAxis.html#ad933b9ba0c40224b7ded9a313396c736">Eigen::AngleAxis::angle</a></div><div class="ttdeci">Scalar angle() const</div><div class="ttdef"><b>Definition:</b> AngleAxis.h:93</div></div>
<div class="ttc" id="aclassEigen_1_1DenseCoeffsBase_3_01Derived_00_01DirectWriteAccessors_01_4_html_a1fbabe7f12bcbfba3b9a448b1f5e46fa"><div class="ttname"><a href="classEigen_1_1DenseCoeffsBase_3_01Derived_00_01DirectWriteAccessors_01_4.html#a1fbabe7f12bcbfba3b9a448b1f5e46fa">Eigen::DenseCoeffsBase&lt; Derived, DirectWriteAccessors &gt;::derived</a></div><div class="ttdeci">Derived &amp; derived()</div><div class="ttdef"><b>Definition:</b> EigenBase.h:48</div></div>
<div class="ttc" id="aclassEigen_1_1JacobiSVD_html"><div class="ttname"><a href="classEigen_1_1JacobiSVD.html">Eigen::JacobiSVD</a></div><div class="ttdoc">Two-sided Jacobi SVD decomposition of a rectangular matrix.</div><div class="ttdef"><b>Definition:</b> JacobiSVD.h:514</div></div>
<div class="ttc" id="aclassEigen_1_1Map_3_01Quaternion_3_01Scalar___01_4_00_01Options___01_4_html_a41caca423b2e33cc90a1cf0a6a3e642f"><div class="ttname"><a href="classEigen_1_1Map_3_01Quaternion_3_01Scalar___01_4_00_01Options___01_4.html#a41caca423b2e33cc90a1cf0a6a3e642f">Eigen::Map&lt; Quaternion&lt; Scalar_ &gt;, Options_ &gt;::Map</a></div><div class="ttdeci">Map(Scalar *coeffs)</div><div class="ttdef"><b>Definition:</b> Quaternion.h:455</div></div>
<div class="ttc" id="aclassEigen_1_1Map_3_01const_01Quaternion_3_01Scalar___01_4_00_01Options___01_4_html_a0e801675aabae3deb258211c148521df"><div class="ttname"><a href="classEigen_1_1Map_3_01const_01Quaternion_3_01Scalar___01_4_00_01Options___01_4.html#a0e801675aabae3deb258211c148521df">Eigen::Map&lt; const Quaternion&lt; Scalar_ &gt;, Options_ &gt;::Map</a></div><div class="ttdeci">Map(const Scalar *coeffs)</div><div class="ttdef"><b>Definition:</b> Quaternion.h:418</div></div>
<div class="ttc" id="aclassEigen_1_1Map_html"><div class="ttname"><a href="classEigen_1_1Map.html">Eigen::Map</a></div><div class="ttdoc">A matrix or vector expression mapping an existing array of data.</div><div class="ttdef"><b>Definition:</b> Map.h:98</div></div>
<div class="ttc" id="aclassEigen_1_1MatrixBase_html"><div class="ttname"><a href="classEigen_1_1MatrixBase.html">Eigen::MatrixBase</a></div><div class="ttdoc">Base class for all dense matrices, vectors, and expressions.</div><div class="ttdef"><b>Definition:</b> MatrixBase.h:52</div></div>
<div class="ttc" id="aclassEigen_1_1MatrixBase_html_a5cf2fd4c57e59604fd4116158fd34308"><div class="ttname"><a href="classEigen_1_1MatrixBase.html#a5cf2fd4c57e59604fd4116158fd34308">Eigen::MatrixBase::normalized</a></div><div class="ttdeci">const PlainObject normalized() const</div><div class="ttdef"><b>Definition:</b> Dot.h:121</div></div>
<div class="ttc" id="aclassEigen_1_1Matrix_html"><div class="ttname"><a href="classEigen_1_1Matrix.html">Eigen::Matrix&lt; Scalar, 3, 1 &gt;</a></div></div>
<div class="ttc" id="aclassEigen_1_1PlainObjectBase_html_a992d58b5453e441dcfc80f21c2bfd1d7"><div class="ttname"><a href="classEigen_1_1PlainObjectBase.html#a992d58b5453e441dcfc80f21c2bfd1d7">Eigen::PlainObjectBase::coeffRef</a></div><div class="ttdeci">Scalar &amp; coeffRef(Index rowId, Index colId)</div><div class="ttdef"><b>Definition:</b> PlainObjectBase.h:187</div></div>
<div class="ttc" id="aclassEigen_1_1QuaternionBase_html"><div class="ttname"><a href="classEigen_1_1QuaternionBase.html">Eigen::QuaternionBase</a></div><div class="ttdoc">Base class for quaternion expressions.</div><div class="ttdef"><b>Definition:</b> Quaternion.h:38</div></div>
<div class="ttc" id="aclassEigen_1_1QuaternionBase_html_a09730db4ef0b546f5cf29f6b180b3c87"><div class="ttname"><a href="classEigen_1_1QuaternionBase.html#a09730db4ef0b546f5cf29f6b180b3c87">Eigen::QuaternionBase::squaredNorm</a></div><div class="ttdeci">Scalar squaredNorm() const</div><div class="ttdef"><b>Definition:</b> Quaternion.h:122</div></div>
<div class="ttc" id="aclassEigen_1_1QuaternionBase_html_a193e79f616335a0067e3e784c7cf85fa"><div class="ttname"><a href="classEigen_1_1QuaternionBase.html#a193e79f616335a0067e3e784c7cf85fa">Eigen::QuaternionBase::coeffs</a></div><div class="ttdeci">const internal::traits&lt; Derived &gt;::Coefficients &amp; coeffs() const</div><div class="ttdef"><b>Definition:</b> Quaternion.h:92</div></div>
<div class="ttc" id="aclassEigen_1_1QuaternionBase_html_a4695b0f6eebfb217ae2fbd579ceda24a"><div class="ttname"><a href="classEigen_1_1QuaternionBase.html#a4695b0f6eebfb217ae2fbd579ceda24a">Eigen::QuaternionBase::setIdentity</a></div><div class="ttdeci">QuaternionBase &amp; setIdentity()</div><div class="ttdef"><b>Definition:</b> Quaternion.h:117</div></div>
<div class="ttc" id="aclassEigen_1_1QuaternionBase_html_a530edf22f03853cd07ba829ea0d505dc"><div class="ttname"><a href="classEigen_1_1QuaternionBase.html#a530edf22f03853cd07ba829ea0d505dc">Eigen::QuaternionBase::operator!=</a></div><div class="ttdeci">bool operator!=(const QuaternionBase&lt; OtherDerived &gt; &amp;other) const</div><div class="ttdef"><b>Definition:</b> Quaternion.h:176</div></div>
<div class="ttc" id="aclassEigen_1_1QuaternionBase_html_a5e63b775d0a93161ce6137ec0a17f6b0"><div class="ttname"><a href="classEigen_1_1QuaternionBase.html#a5e63b775d0a93161ce6137ec0a17f6b0">Eigen::QuaternionBase::conjugate</a></div><div class="ttdeci">Quaternion&lt; Scalar &gt; conjugate() const</div><div class="ttdef"><b>Definition:</b> Quaternion.h:748</div></div>
<div class="ttc" id="aclassEigen_1_1QuaternionBase_html_a6005245a72520df258d30af6b5448595"><div class="ttname"><a href="classEigen_1_1QuaternionBase.html#a6005245a72520df258d30af6b5448595">Eigen::QuaternionBase::y</a></div><div class="ttdeci">NonConstCoeffReturnType y()</div><div class="ttdef"><b>Definition:</b> Quaternion.h:79</div></div>
<div class="ttc" id="aclassEigen_1_1QuaternionBase_html_a64bc41c96a9e99567e0f8409f8f0f680"><div class="ttname"><a href="classEigen_1_1QuaternionBase.html#a64bc41c96a9e99567e0f8409f8f0f680">Eigen::QuaternionBase::isApprox</a></div><div class="ttdeci">bool isApprox(const QuaternionBase&lt; OtherDerived &gt; &amp;other, const RealScalar &amp;prec=NumTraits&lt; Scalar &gt;::dummy_precision()) const</div><div class="ttdef"><b>Definition:</b> Quaternion.h:184</div></div>
<div class="ttc" id="aclassEigen_1_1QuaternionBase_html_a6f31a6f98016f186515b3277f4757962"><div class="ttname"><a href="classEigen_1_1QuaternionBase.html#a6f31a6f98016f186515b3277f4757962">Eigen::QuaternionBase::Identity</a></div><div class="ttdeci">static Quaternion&lt; Scalar &gt; Identity()</div><div class="ttdef"><b>Definition:</b> Quaternion.h:113</div></div>
<div class="ttc" id="aclassEigen_1_1QuaternionBase_html_a7a487a8a129b46be562f42044102c1f8"><div class="ttname"><a href="classEigen_1_1QuaternionBase.html#a7a487a8a129b46be562f42044102c1f8">Eigen::QuaternionBase::normalize</a></div><div class="ttdeci">void normalize()</div><div class="ttdef"><b>Definition:</b> Quaternion.h:131</div></div>
<div class="ttc" id="aclassEigen_1_1QuaternionBase_html_a7ae84bfbcc9f3f19f10294496a836bee"><div class="ttname"><a href="classEigen_1_1QuaternionBase.html#a7ae84bfbcc9f3f19f10294496a836bee">Eigen::QuaternionBase::setFromTwoVectors</a></div><div class="ttdeci">Derived &amp; setFromTwoVectors(const MatrixBase&lt; Derived1 &gt; &amp;a, const MatrixBase&lt; Derived2 &gt; &amp;b)</div><div class="ttdef"><b>Definition:</b> Quaternion.h:635</div></div>
<div class="ttc" id="aclassEigen_1_1QuaternionBase_html_a8389b65a61aa3fc76d3ba4bd4a63e529"><div class="ttname"><a href="classEigen_1_1QuaternionBase.html#a8389b65a61aa3fc76d3ba4bd4a63e529">Eigen::QuaternionBase::z</a></div><div class="ttdeci">CoeffReturnType z() const</div><div class="ttdef"><b>Definition:</b> Quaternion.h:72</div></div>
<div class="ttc" id="aclassEigen_1_1QuaternionBase_html_a8b05bac2a1c099b341396f725e85f3b1"><div class="ttname"><a href="classEigen_1_1QuaternionBase.html#a8b05bac2a1c099b341396f725e85f3b1">Eigen::QuaternionBase::x</a></div><div class="ttdeci">NonConstCoeffReturnType x()</div><div class="ttdef"><b>Definition:</b> Quaternion.h:77</div></div>
<div class="ttc" id="aclassEigen_1_1QuaternionBase_html_a8cf07ab9875baba2eecdd62ff93bfc3f"><div class="ttname"><a href="classEigen_1_1QuaternionBase.html#a8cf07ab9875baba2eecdd62ff93bfc3f">Eigen::QuaternionBase::toRotationMatrix</a></div><div class="ttdeci">Matrix3 toRotationMatrix() const</div><div class="ttdef"><b>Definition:</b> Quaternion.h:589</div></div>
<div class="ttc" id="aclassEigen_1_1QuaternionBase_html_a91f93bde88f52796cfcd92c3594f39e5"><div class="ttname"><a href="classEigen_1_1QuaternionBase.html#a91f93bde88f52796cfcd92c3594f39e5">Eigen::QuaternionBase::vec</a></div><div class="ttdeci">VectorBlock&lt; Coefficients, 3 &gt; vec()</div><div class="ttdef"><b>Definition:</b> Quaternion.h:89</div></div>
<div class="ttc" id="aclassEigen_1_1QuaternionBase_html_a951d627764be63ca1e8c2c4c7315e43f"><div class="ttname"><a href="classEigen_1_1QuaternionBase.html#a951d627764be63ca1e8c2c4c7315e43f">Eigen::QuaternionBase::cast</a></div><div class="ttdeci">internal::cast_return_type&lt; Derived, Quaternion&lt; NewScalarType &gt; &gt;::type cast() const</div></div>
<div class="ttc" id="aclassEigen_1_1QuaternionBase_html_a974c0529d55983b0b3a6d99a8466f331"><div class="ttname"><a href="classEigen_1_1QuaternionBase.html#a974c0529d55983b0b3a6d99a8466f331">Eigen::QuaternionBase::Vector3</a></div><div class="ttdeci">Matrix&lt; Scalar, 3, 1 &gt; Vector3</div><div class="ttdef"><b>Definition:</b> Quaternion.h:59</div></div>
<div class="ttc" id="aclassEigen_1_1QuaternionBase_html_a9afed6a7fa4fcdfbe599d7b5b207fc1b"><div class="ttname"><a href="classEigen_1_1QuaternionBase.html#a9afed6a7fa4fcdfbe599d7b5b207fc1b">Eigen::QuaternionBase::z</a></div><div class="ttdeci">NonConstCoeffReturnType z()</div><div class="ttdef"><b>Definition:</b> Quaternion.h:81</div></div>
<div class="ttc" id="aclassEigen_1_1QuaternionBase_html_aa2d22c5b321c9539dd625ca415422236"><div class="ttname"><a href="classEigen_1_1QuaternionBase.html#aa2d22c5b321c9539dd625ca415422236">Eigen::QuaternionBase::dot</a></div><div class="ttdeci">Scalar dot(const QuaternionBase&lt; OtherDerived &gt; &amp;other) const</div><div class="ttdef"><b>Definition:</b> Quaternion.h:141</div></div>
<div class="ttc" id="aclassEigen_1_1QuaternionBase_html_aa7c114c6e62a37d4fc53b6e82ed78eac"><div class="ttname"><a href="classEigen_1_1QuaternionBase.html#aa7c114c6e62a37d4fc53b6e82ed78eac">Eigen::QuaternionBase::operator=</a></div><div class="ttdeci">Derived &amp; operator=(const AngleAxisType &amp;aa)</div><div class="ttdef"><b>Definition:</b> Quaternion.h:558</div></div>
<div class="ttc" id="aclassEigen_1_1QuaternionBase_html_aabef1f6fc62535f6f85d590108915ee8"><div class="ttname"><a href="classEigen_1_1QuaternionBase.html#aabef1f6fc62535f6f85d590108915ee8">Eigen::QuaternionBase::_transformVector</a></div><div class="ttdeci">Vector3 _transformVector(const Vector3 &amp;v) const</div><div class="ttdef"><b>Definition:</b> Quaternion.h:528</div></div>
<div class="ttc" id="aclassEigen_1_1QuaternionBase_html_aad37efca5d9fde3f4cb03a208f38d74f"><div class="ttname"><a href="classEigen_1_1QuaternionBase.html#aad37efca5d9fde3f4cb03a208f38d74f">Eigen::QuaternionBase::y</a></div><div class="ttdeci">CoeffReturnType y() const</div><div class="ttdef"><b>Definition:</b> Quaternion.h:70</div></div>
<div class="ttc" id="aclassEigen_1_1QuaternionBase_html_aad4b1faef1eabdc7fdd4d305e9881149"><div class="ttname"><a href="classEigen_1_1QuaternionBase.html#aad4b1faef1eabdc7fdd4d305e9881149">Eigen::QuaternionBase::norm</a></div><div class="ttdeci">Scalar norm() const</div><div class="ttdef"><b>Definition:</b> Quaternion.h:127</div></div>
<div class="ttc" id="aclassEigen_1_1QuaternionBase_html_ab12ee41b3b06adc3062217a795a6a9f5"><div class="ttname"><a href="classEigen_1_1QuaternionBase.html#ab12ee41b3b06adc3062217a795a6a9f5">Eigen::QuaternionBase::inverse</a></div><div class="ttdeci">Quaternion&lt; Scalar &gt; inverse() const</div><div class="ttdef"><b>Definition:</b> Quaternion.h:717</div></div>
<div class="ttc" id="aclassEigen_1_1QuaternionBase_html_ab5eae91bedac0afaab0074cec5e535bc"><div class="ttname"><a href="classEigen_1_1QuaternionBase.html#ab5eae91bedac0afaab0074cec5e535bc">Eigen::QuaternionBase::w</a></div><div class="ttdeci">CoeffReturnType w() const</div><div class="ttdef"><b>Definition:</b> Quaternion.h:74</div></div>
<div class="ttc" id="aclassEigen_1_1QuaternionBase_html_ac3972e6cb0f56cccbe9e3946a7e494f8"><div class="ttname"><a href="classEigen_1_1QuaternionBase.html#ac3972e6cb0f56cccbe9e3946a7e494f8">Eigen::QuaternionBase::Matrix3</a></div><div class="ttdeci">Matrix&lt; Scalar, 3, 3 &gt; Matrix3</div><div class="ttdef"><b>Definition:</b> Quaternion.h:61</div></div>
<div class="ttc" id="aclassEigen_1_1QuaternionBase_html_ad206c9014409c06970884dbfc00e6c3c"><div class="ttname"><a href="classEigen_1_1QuaternionBase.html#ad206c9014409c06970884dbfc00e6c3c">Eigen::QuaternionBase::operator==</a></div><div class="ttdeci">bool operator==(const QuaternionBase&lt; OtherDerived &gt; &amp;other) const</div><div class="ttdef"><b>Definition:</b> Quaternion.h:168</div></div>
<div class="ttc" id="aclassEigen_1_1QuaternionBase_html_ad884cf20a0b0b92bb63ab3fe9d6d6b7f"><div class="ttname"><a href="classEigen_1_1QuaternionBase.html#ad884cf20a0b0b92bb63ab3fe9d6d6b7f">Eigen::QuaternionBase::w</a></div><div class="ttdeci">NonConstCoeffReturnType w()</div><div class="ttdef"><b>Definition:</b> Quaternion.h:83</div></div>
<div class="ttc" id="aclassEigen_1_1QuaternionBase_html_ada8bdb403471df23511bdc0f227962ea"><div class="ttname"><a href="classEigen_1_1QuaternionBase.html#ada8bdb403471df23511bdc0f227962ea">Eigen::QuaternionBase::vec</a></div><div class="ttdeci">const VectorBlock&lt; const Coefficients, 3 &gt; vec() const</div><div class="ttdef"><b>Definition:</b> Quaternion.h:86</div></div>
<div class="ttc" id="aclassEigen_1_1QuaternionBase_html_ade799f18b7ec19c02ddae3a4921fa8a0"><div class="ttname"><a href="classEigen_1_1QuaternionBase.html#ade799f18b7ec19c02ddae3a4921fa8a0">Eigen::QuaternionBase::normalized</a></div><div class="ttdeci">Quaternion&lt; Scalar &gt; normalized() const</div><div class="ttdef"><b>Definition:</b> Quaternion.h:134</div></div>
<div class="ttc" id="aclassEigen_1_1QuaternionBase_html_ae61294790c0cc308d3f69690a657672c"><div class="ttname"><a href="classEigen_1_1QuaternionBase.html#ae61294790c0cc308d3f69690a657672c">Eigen::QuaternionBase::coeffs</a></div><div class="ttdeci">internal::traits&lt; Derived &gt;::Coefficients &amp; coeffs()</div><div class="ttdef"><b>Definition:</b> Quaternion.h:95</div></div>
<div class="ttc" id="aclassEigen_1_1QuaternionBase_html_aed266c63b10a4028304901d9c8614199"><div class="ttname"><a href="classEigen_1_1QuaternionBase.html#aed266c63b10a4028304901d9c8614199">Eigen::QuaternionBase::AngleAxisType</a></div><div class="ttdeci">AngleAxis&lt; Scalar &gt; AngleAxisType</div><div class="ttdef"><b>Definition:</b> Quaternion.h:63</div></div>
<div class="ttc" id="aclassEigen_1_1QuaternionBase_html_afd8ee6b6420fbdd22fab7cd016212441"><div class="ttname"><a href="classEigen_1_1QuaternionBase.html#afd8ee6b6420fbdd22fab7cd016212441">Eigen::QuaternionBase::operator*=</a></div><div class="ttdeci">Derived &amp; operator*=(const QuaternionBase&lt; OtherDerived &gt; &amp;q)</div><div class="ttdef"><b>Definition:</b> Quaternion.h:513</div></div>
<div class="ttc" id="aclassEigen_1_1QuaternionBase_html_afdd8e260d5de861a6136cb9e6ceaa4b4"><div class="ttname"><a href="classEigen_1_1QuaternionBase.html#afdd8e260d5de861a6136cb9e6ceaa4b4">Eigen::QuaternionBase::x</a></div><div class="ttdeci">CoeffReturnType x() const</div><div class="ttdef"><b>Definition:</b> Quaternion.h:68</div></div>
<div class="ttc" id="aclassEigen_1_1Quaternion_html"><div class="ttname"><a href="classEigen_1_1Quaternion.html">Eigen::Quaternion</a></div><div class="ttdoc">The quaternion class used to represent 3D orientations and rotations.</div><div class="ttdef"><b>Definition:</b> Quaternion.h:276</div></div>
<div class="ttc" id="aclassEigen_1_1Quaternion_html_a03c8c147accb998913cbb8043e2a1293"><div class="ttname"><a href="classEigen_1_1Quaternion.html#a03c8c147accb998913cbb8043e2a1293">Eigen::Quaternion::operator=</a></div><div class="ttdeci">Quaternion &amp; operator=(Quaternion &amp;&amp;other) EIGEN_NOEXCEPT_IF(std</div><div class="ttdef"><b>Definition:</b> Quaternion.h:329</div></div>
<div class="ttc" id="aclassEigen_1_1Quaternion_html_a2dc6d524146228c63297f6ddf1c8c58e"><div class="ttname"><a href="classEigen_1_1Quaternion.html#a2dc6d524146228c63297f6ddf1c8c58e">Eigen::Quaternion::Quaternion</a></div><div class="ttdeci">Quaternion(const Quaternion&lt; OtherScalar, OtherOptions &gt; &amp;other)</div><div class="ttdef"><b>Definition:</b> Quaternion.h:319</div></div>
<div class="ttc" id="aclassEigen_1_1Quaternion_html_a3eba7a582f77a8f30525614821d7056f"><div class="ttname"><a href="classEigen_1_1Quaternion.html#a3eba7a582f77a8f30525614821d7056f">Eigen::Quaternion::Quaternion</a></div><div class="ttdeci">Quaternion(const Scalar &amp;w, const Scalar &amp;x, const Scalar &amp;y, const Scalar &amp;z)</div><div class="ttdef"><b>Definition:</b> Quaternion.h:299</div></div>
<div class="ttc" id="aclassEigen_1_1Quaternion_html_a4f56642e3f2d9e594b627d3c7620e41a"><div class="ttname"><a href="classEigen_1_1Quaternion.html#a4f56642e3f2d9e594b627d3c7620e41a">Eigen::Quaternion::Quaternion</a></div><div class="ttdeci">Quaternion(const QuaternionBase&lt; Derived &gt; &amp;other)</div><div class="ttdef"><b>Definition:</b> Quaternion.h:305</div></div>
<div class="ttc" id="aclassEigen_1_1Quaternion_html_a7da87cda5567ff1e860782d638643868"><div class="ttname"><a href="classEigen_1_1Quaternion.html#a7da87cda5567ff1e860782d638643868">Eigen::Quaternion::UnitRandom</a></div><div class="ttdeci">static Quaternion UnitRandom()</div><div class="ttdef"><b>Definition:</b> Quaternion.h:676</div></div>
<div class="ttc" id="aclassEigen_1_1Quaternion_html_a82d58d74e9c895715b24807c9096296f"><div class="ttname"><a href="classEigen_1_1Quaternion.html#a82d58d74e9c895715b24807c9096296f">Eigen::Quaternion::Quaternion</a></div><div class="ttdeci">Quaternion(const MatrixBase&lt; Derived &gt; &amp;other)</div><div class="ttdef"><b>Definition:</b> Quaternion.h:315</div></div>
<div class="ttc" id="aclassEigen_1_1Quaternion_html_a943e557caacc45202b3e4427ffa7d5fc"><div class="ttname"><a href="classEigen_1_1Quaternion.html#a943e557caacc45202b3e4427ffa7d5fc">Eigen::Quaternion::Quaternion</a></div><div class="ttdeci">Quaternion(const AngleAxisType &amp;aa)</div><div class="ttdef"><b>Definition:</b> Quaternion.h:308</div></div>
<div class="ttc" id="aclassEigen_1_1Quaternion_html_a95ec12842db82e0980e2522c7177487d"><div class="ttname"><a href="classEigen_1_1Quaternion.html#a95ec12842db82e0980e2522c7177487d">Eigen::Quaternion::Quaternion</a></div><div class="ttdeci">Quaternion()</div><div class="ttdef"><b>Definition:</b> Quaternion.h:290</div></div>
<div class="ttc" id="aclassEigen_1_1Quaternion_html_adace99a7ef09d63b32a5fa2183a04636"><div class="ttname"><a href="classEigen_1_1Quaternion.html#adace99a7ef09d63b32a5fa2183a04636">Eigen::Quaternion::Quaternion</a></div><div class="ttdeci">Quaternion(Quaternion &amp;&amp;other) EIGEN_NOEXCEPT_IF(std</div><div class="ttdef"><b>Definition:</b> Quaternion.h:324</div></div>
<div class="ttc" id="aclassEigen_1_1Quaternion_html_af38dbd1896bfac232d13ebd88b6f0243"><div class="ttname"><a href="classEigen_1_1Quaternion.html#af38dbd1896bfac232d13ebd88b6f0243">Eigen::Quaternion::Quaternion</a></div><div class="ttdeci">Quaternion(const Scalar *data)</div><div class="ttdef"><b>Definition:</b> Quaternion.h:302</div></div>
<div class="ttc" id="aclassEigen_1_1RotationBase_html"><div class="ttname"><a href="classEigen_1_1RotationBase.html">Eigen::RotationBase</a></div><div class="ttdoc">Common base class for compact rotation representations.</div><div class="ttdef"><b>Definition:</b> RotationBase.h:32</div></div>
<div class="ttc" id="aclassEigen_1_1RotationBase_html_a942f03c9a5bfbad71a313aee8d37887e"><div class="ttname"><a href="classEigen_1_1RotationBase.html#a942f03c9a5bfbad71a313aee8d37887e">Eigen::RotationBase::Scalar</a></div><div class="ttdeci">internal::traits&lt; Derived &gt;::Scalar Scalar</div><div class="ttdef"><b>Definition:</b> RotationBase.h:36</div></div>
<div class="ttc" id="aclassEigen_1_1SVDBase_html_a245a453b5e7347f737295c23133238c4"><div class="ttname"><a href="classEigen_1_1SVDBase.html#a245a453b5e7347f737295c23133238c4">Eigen::SVDBase::matrixV</a></div><div class="ttdeci">const MatrixVType &amp; matrixV() const</div><div class="ttdef"><b>Definition:</b> SVDBase.h:191</div></div>
<div class="ttc" id="aclassEigen_1_1VectorBlock_html"><div class="ttname"><a href="classEigen_1_1VectorBlock.html">Eigen::VectorBlock</a></div><div class="ttdoc">Expression of a fixed-size or dynamic-size sub-vector.</div><div class="ttdef"><b>Definition:</b> VectorBlock.h:62</div></div>
<div class="ttc" id="agroup__Geometry__Module_html_ga4289f38cc6ecf302e07d2365abc6a902"><div class="ttname"><a href="group__Geometry__Module.html#ga4289f38cc6ecf302e07d2365abc6a902">Eigen::QuaternionMapAlignedd</a></div><div class="ttdeci">Map&lt; Quaternion&lt; double &gt;, Aligned &gt; QuaternionMapAlignedd</div><div class="ttdef"><b>Definition:</b> Quaternion.h:475</div></div>
<div class="ttc" id="agroup__Geometry__Module_html_ga5daab8e66aa480465000308455578830"><div class="ttname"><a href="group__Geometry__Module.html#ga5daab8e66aa480465000308455578830">Eigen::Quaterniond</a></div><div class="ttdeci">Quaternion&lt; double &gt; Quaterniond</div><div class="ttdef"><b>Definition:</b> Quaternion.h:363</div></div>
<div class="ttc" id="agroup__Geometry__Module_html_ga66aa915a26d698c60ed206818c3e4c9b"><div class="ttname"><a href="group__Geometry__Module.html#ga66aa915a26d698c60ed206818c3e4c9b">Eigen::Quaternionf</a></div><div class="ttdeci">Quaternion&lt; float &gt; Quaternionf</div><div class="ttdef"><b>Definition:</b> Quaternion.h:360</div></div>
<div class="ttc" id="agroup__Geometry__Module_html_ga867ff508ac860bdf7cab3b8a8fc1048d"><div class="ttname"><a href="group__Geometry__Module.html#ga867ff508ac860bdf7cab3b8a8fc1048d">Eigen::QuaternionMapf</a></div><div class="ttdeci">Map&lt; Quaternion&lt; float &gt;, 0 &gt; QuaternionMapf</div><div class="ttdef"><b>Definition:</b> Quaternion.h:466</div></div>
<div class="ttc" id="agroup__Geometry__Module_html_ga89412d1dcf23537e5990dfb3089ace76"><div class="ttname"><a href="group__Geometry__Module.html#ga89412d1dcf23537e5990dfb3089ace76">Eigen::QuaternionMapd</a></div><div class="ttdeci">Map&lt; Quaternion&lt; double &gt;, 0 &gt; QuaternionMapd</div><div class="ttdef"><b>Definition:</b> Quaternion.h:469</div></div>
<div class="ttc" id="agroup__Geometry__Module_html_gadaf7f3ee984d9828ca94d66355f0b226"><div class="ttname"><a href="group__Geometry__Module.html#gadaf7f3ee984d9828ca94d66355f0b226">Eigen::QuaternionMapAlignedf</a></div><div class="ttdeci">Map&lt; Quaternion&lt; float &gt;, Aligned &gt; QuaternionMapAlignedf</div><div class="ttdef"><b>Definition:</b> Quaternion.h:472</div></div>
<div class="ttc" id="agroup__enums_html_gga45fe06e29902b7a2773de05ba27b47a1ae12d0f8f869c40c76128260af2242bc8"><div class="ttname"><a href="group__enums.html#gga45fe06e29902b7a2773de05ba27b47a1ae12d0f8f869c40c76128260af2242bc8">Eigen::Aligned</a></div><div class="ttdeci">@ Aligned</div><div class="ttdef"><b>Definition:</b> Constants.h:242</div></div>
<div class="ttc" id="agroup__enums_html_ggaacded1a18ae58b0f554751f6cdf9eb13a56908522e51443a0aa0567f879c2e78a"><div class="ttname"><a href="group__enums.html#ggaacded1a18ae58b0f554751f6cdf9eb13a56908522e51443a0aa0567f879c2e78a">Eigen::DontAlign</a></div><div class="ttdeci">@ DontAlign</div><div class="ttdef"><b>Definition:</b> Constants.h:327</div></div>
<div class="ttc" id="agroup__enums_html_ggaacded1a18ae58b0f554751f6cdf9eb13ad0e7f67d40bcde3d41c12849b16ce6ea"><div class="ttname"><a href="group__enums.html#ggaacded1a18ae58b0f554751f6cdf9eb13ad0e7f67d40bcde3d41c12849b16ce6ea">Eigen::AutoAlign</a></div><div class="ttdeci">@ AutoAlign</div><div class="ttdef"><b>Definition:</b> Constants.h:325</div></div>
<div class="ttc" id="agroup__enums_html_ggae3e239fb70022eb8747994cf5d68b4a9a36581f7c662f7def31efd500c284f930"><div class="ttname"><a href="group__enums.html#ggae3e239fb70022eb8747994cf5d68b4a9a36581f7c662f7def31efd500c284f930">Eigen::ComputeFullV</a></div><div class="ttdeci">@ ComputeFullV</div><div class="ttdef"><b>Definition:</b> Constants.h:399</div></div>
<div class="ttc" id="agroup__flags_html_gae2c323957f20dfdc6cb8f44428eaec1a"><div class="ttname"><a href="group__flags.html#gae2c323957f20dfdc6cb8f44428eaec1a">Eigen::LvalueBit</a></div><div class="ttdeci">const unsigned int LvalueBit</div><div class="ttdef"><b>Definition:</b> Constants.h:146</div></div>
<div class="ttc" id="anamespaceEigen_html"><div class="ttname"><a href="namespaceEigen.html">Eigen</a></div><div class="ttdoc">Namespace containing all symbols from the Eigen library.</div><div class="ttdef"><b>Definition:</b> Core:139</div></div>
<div class="ttc" id="anamespaceEigen_html_a3fe3a136370fefae062591304c6a7ebd"><div class="ttname"><a href="namespaceEigen.html#a3fe3a136370fefae062591304c6a7ebd">Eigen::acos</a></div><div class="ttdeci">const Eigen::CwiseUnaryOp&lt; Eigen::internal::scalar_acos_op&lt; typename Derived::Scalar &gt;, const Derived &gt; acos(const Eigen::ArrayBase&lt; Derived &gt; &amp;x)</div></div>
<div class="ttc" id="anamespaceEigen_html_a62e77e0933482dafde8fe197d9a2cfde"><div class="ttname"><a href="namespaceEigen.html#a62e77e0933482dafde8fe197d9a2cfde">Eigen::Index</a></div><div class="ttdeci">EIGEN_DEFAULT_DENSE_INDEX_TYPE Index</div><div class="ttdoc">The Index type as used for the API.</div><div class="ttdef"><b>Definition:</b> Meta.h:59</div></div>
<div class="ttc" id="anamespaceEigen_html_ad01d50a42869218f1d54af13f71517a6"><div class="ttname"><a href="namespaceEigen.html#ad01d50a42869218f1d54af13f71517a6">Eigen::cos</a></div><div class="ttdeci">const Eigen::CwiseUnaryOp&lt; Eigen::internal::scalar_cos_op&lt; typename Derived::Scalar &gt;, const Derived &gt; cos(const Eigen::ArrayBase&lt; Derived &gt; &amp;x)</div></div>
<div class="ttc" id="anamespaceEigen_html_ae6e8ad270ff41c088d7651567594f796"><div class="ttname"><a href="namespaceEigen.html#ae6e8ad270ff41c088d7651567594f796">Eigen::sin</a></div><div class="ttdeci">const Eigen::CwiseUnaryOp&lt; Eigen::internal::scalar_sin_op&lt; typename Derived::Scalar &gt;, const Derived &gt; sin(const Eigen::ArrayBase&lt; Derived &gt; &amp;x)</div></div>
<div class="ttc" id="anamespaceEigen_html_af4f536e8ea56702e63088efb3706d1f0"><div class="ttname"><a href="namespaceEigen.html#af4f536e8ea56702e63088efb3706d1f0">Eigen::sqrt</a></div><div class="ttdeci">const Eigen::CwiseUnaryOp&lt; Eigen::internal::scalar_sqrt_op&lt; typename Derived::Scalar &gt;, const Derived &gt; sqrt(const Eigen::ArrayBase&lt; Derived &gt; &amp;x)</div></div>
<div class="ttc" id="astructEigen_1_1NumTraits_html"><div class="ttname"><a href="structEigen_1_1NumTraits.html">Eigen::NumTraits</a></div><div class="ttdoc">Holds information about the various numeric (i.e. scalar) types allowed by Eigen.</div><div class="ttdef"><b>Definition:</b> NumTraits.h:231</div></div>
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